Design Of Automatic Straightening System For Fully Mechanized Coal Mining Face Based On Inertial Navigation

In recent years,with the development and application of electro-hydraulic control system in fully mechanized coal mining face,the level of coal mining automation has been greatly improved in China.However,there is inevitably cumulative error in the step distance of the electro-hydraulic control bracket,which results in the bending of the working face and the failure of the coal mining automation process.This paper is supported by project of the State Administration of Safety Supervision and Administration,"Research on the key technology of automatic straightening of fully mechanized mining face".Taking the fully mechanized mining face scraper conveyor and hydraulic support as the research object.It is based on rapid inspection platform,inertial navigation system and encoder location.The automatic straightening system of fully mechanized coal mining face based on inertial navigation is designed and implemented.The main research work includes:(1)The structure of straightening system in working face is studied and designed.By studying the structure of straightening system,a straightness detection system is designed,which combines inertial navigation system,encoder ranging and ultra wideband location.A mobile platform for rapid inspection along the scraper conveyor cable slot is designed,which can cany inertial navigation equipment on the working face reciprocating motion.The network communication system is designed to realize the communication between the equipment and the host computer of the monitoring center.(2)The algorithm of coal mining face straightening based on inertial navigation is studied.Study on dead reckoning method.And the dead reckoning algorithm error analysis.The algorithm of coal mining straightening is realized through inertial navigation and encoder positioning.The error caused by installation of inertial navigation is analyzed,and the straightness level processing algorithm is designed.The propulsion control principle of hydraulic support is analyzed,and the support control model of working face is established.(3)Design and develop the system host computer software.Taking VS2012 as the development platform,C#as the programming language and SQL server as the database design tool,the software development of the host computer is accomplished by modularization.The functions of data acquisition,data storage,inertial navigation calibration,working face straightness survey and straightness correction are realized.(4)Ground principle experiment and underground industrial test.The accuracy of inertial navigation detection at different velocity is compared on the ground simulation platfonm,and it is found that the detection accuracy of inertial navigation is high at higher speed.The industrial test was carried out in Huangling Mine,and the communication network and zero bias stability of inertial navigation was tested.The measurement of inertial navigation straightness is tested and compared with the measured data of total station.The error is less than 100 mm.Finally,the support control experiment based on inertial navigation straightening data is earried out.