Research On Measurement And Control System Of Unmanned Electric Locomotive In Coal Mine

As an important part of underground coal mining,electric locomotive undertakes the important task of coal transportation,and has an important impact on coal mine production efficiency.In view of the environmental conditions in coal mine,in order to reduce casualties and transportation costs,and improve the production efficiency of coal mine,this paper studies the unmanned measurement and control system of electric locomotive in coal mine.In this paper,combined with the actual transportation environment in coal mine,the overall structure of the unmanned measurement and control system is given,and the key technology of unmanned electric locomotive is introduced and analyzed.The functional requirements of the measurement and control system are analyzed,and four essential modules of the electric locomotive are outlined: locomotive positioning module,obstacle detection module,environment detection module and motion control module.The overall design of the measurement and control system is completed.The main control circuit,positioning module hardware circuit,obstacle avoidance module hardware circuit,environment detection module hardware circuit and motion control module hardware circuit are designed in detail.This paper designs a wireless location algorithm for underground electric locomotive based on received signal strength,optimizes the wireless location algorithm through Gauss filtering and weighted average processing,and designs Kalman filter to integrate ZigBee wireless location and inertial location,realizes combined location and accurately detects the location of electric locomotive.According to the designed obstacle avoidance module,the information of obstacles in front and both sides of the electric locomotive is obtained to realize the function of autonomous obstacle avoidance of the electric locomotive,and the performance of the distance sensor is tested.According to the environmental information detected by the design environment detection module,the safety of the running environment of the electric locomotive is judged.In the motion control module,the motion of the locomotive is modeled and the motion instructions and state are designed.The speed PID controller is designed for the motion state,and the incremental PID control principle is used to realize the speed regulation of the locomotive wheel.Experiments on locomotive positioning module and motion control module show that the positioning module can achieve precise positioning of locomotive.The average positioning error of locomotive is about 0.58 M when it runs 100 m.The motion control module can achieve stable operation of locomotive and meet the driving requirements.Figure[58] Table[8] Reference[61]...