综采工作面“三机”控制中设备定位及任务协调研究
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摘要
随着国家能源需求日益旺盛，以煤炭为主的能源结构将持续很长时间，而煤炭资源的安全高效开采问题，已经成为资源环境领域的重点研究课题。本文在国家“863”课题基金的资助下，以综采工作面“三机”装备—采煤机、液压支架和刮板输送机为研究对象，以实现井下工作面无人化采矿为目标，开展“三机”设备定位及任务协调研究。通过掌握“三机”协同运动规律，建立“三机”系统运动学模型，进而综合惯性导航理论以及超宽带无线传感网络定位理论，构建采煤机INS/UWB协同定位模型，实现封闭空间下采煤机高精度定位定姿。在此基础上，分析采煤机、液压支架与刮板输送机相互约束规律，开展工作面“三机”参数动态匹配技术研究，构建“三机”约束集合，进而建立“三机”任务协调机制，实现“三机”正常调度优化以及冲突消解，为智能化采矿提供理论支撑及技术支持。主要研究工作包括：
1）综采工作面“三机”系统运动学模型的建立。分析了采煤机工作空间及运动规律，完成了采煤机姿态及位置表达，构建了采煤机空间运动学模型。在此基础上，掌握了液压支架推溜、移架规律，通过制定液压支架联动规则，建立了液压支架跟机联动模型。
2）封闭空间下采煤机动态定位策略的研究。首先对纯惯性导航系统下采煤机定位展开了研究，确定了采煤机惯性导航系统编排，构建了采煤机惯性导航方程，提出了基于四元数的姿态解算策略，进一步在惯性试验平台上对纯惯性导航下采煤机定位性能进行了测试，揭示了惯性导航系统的优势与不足；在此基础上提出基于INS/UWB的采煤机组合导航策略，综合两个子系统存在的优势，研究了位置组合模式下的INS/UWB耦合机制，并进行了组合定位系统的可行性仿真研究，验证了理论模型的正确性。
3）INS/UWB组合导航数据融合策略的研究。掌握了采煤机工况下INS/UWB组合导航系统误差传播特性，对INS与UWB子系统误差分别进行了建模，构建了系统误差方程，在此基础上确定了INS/UWB组合导航系统状态方程与量测方程，研究了基于模糊自适应Kalman滤波技术的INS/UWB组合导航数据融合策略，并进行了INS/UWB组合导航仿真研究；最后通过构建INS/UWB协同定位平台，开展了采煤机定位定姿试验研究，验证了INS/UWB组合导航理论模型的正确性，同时确定了系统精度。
4）工作面“三机”集合约束下任务协调机制的研究。分析了采煤机、液压支架和刮板输送机之间的约束关联，进而研究了工作面“三机”工作参数动态匹配技术，在此基础上建立了“三机”协同任务控制模型，并采用动态规划理论进行了模型求解，进一步提出了基于通用部分全局规划的“三机”任务协调策略，并构建了“三机”协同运动仿真平台，开展了工作面“三机”任务协调试验研究，结果表明，通过建立“三机”实时任务视图，能够进行实时任务约束检测，实现“三机”协同工作，同时提高“三机”机组设备效率与总体效能。
Along with the strong increase of national energy demand, coal-dominated energystructure will last a long time. The safe and efficient mining issue has been a primaryresearch subject in the resources and environment flied, in order to improve equipmentautomatically and realize unmanned mining. Taking the Three Machines of shearer,hydraulic support and scraper conveyor as research object, this dissertation researchesthe positioning estimation and task coordination of Three Machines supported by theNational High Technology Research and Development Program of China. Kinematicsmodel of the Three Machines is established based on the collaboration motion rule of theThree Machines. Then the inertial navigation system (INS) integrated with the Ultra-wideband (UWB) are applied to derive the collaboration positioning model, which canobtain accuracy position and pose of shearer in the enclosed environment. Analyzing theconstraints rules among the shearer, hydraulic support and scraper conveyor, theparameter dynamic matching of the Three Machines is studied. A set of constraints isresearched to find the mechanism of task coordination. Finally the schedulingoptimization and conflict resolution of Three Machines is realized, which can providetheoretical and technical support for intelligent mining. The main research work includes:
1) The kinematics model of the Three Machines is established on coal mine face.The position and pose equations of shearer is described by analyzing the working spaceand motion rule of shearer. Based on researching the propelling and advancing rules ofhydraulic support, the machinery-tracked model of hydraulic support is establishedthrough formulating the linkage rules of hydraulic support.
2) Dynamic positioning strategy for shearer is proposed in the enclosedenvironment. Firstly the positioning estimation of shearer is researched by only using theINS. Strap-down inertial navigation machinery arrangement of shearer is fixed andinertial navigation equation of the shearer is established. Inertial navigation attitudesolution strategy is proposed based on quaternion. The positioning performance ofshearer is verified on the experiment platform, which reveals the advantage anddisadvantage of the INS. Secondly the integrated navigation strategy INS/UWB isproposed further. The coupling mechanism of INS/UWB integrates the advantage of thetwo methods. Finally the proposed method of INS/UWB is tested.
3) Integrated navigation data fusion strategy is researched based on INS/UWB.Firstly the error propagation characteristic of integrated navigation system INS/UWB is studied based on the subsystem positioning error of INS and UWB. Then, systempositioning error state equation can be obtained. Secondly the state equation andmeasurement equation are established based on INS/UWB. Fuzzy adaptive Kalmanfiltering method is proposed and the integrated navigation simulation is researched.Finally the collaboration positioning platform is designed. The position and poseexperiment of shearer is researched, which can verify the integrated navigation model ofINS/UWB.
4) Task coordination mechanism is studied under Three Machines constraints.Firstly a set of constraints among shearer, hydraulic support and scraper conveyor isfound and the parameter dynamic matching of the Three Machines is researched.Secondly Three Machines collaborative control system model is established, which issolved through dynamic programming theory. Generalized partial global planning(GPGP) task coordination mechanism of Three Machines is proposed and the simulationplatform is constructed. Experimental study of task coordination is developed. Theresults show that task coordination mechanism for Three Machines can detect taskconstraints, realize coordination running and improve the performance of ThreeMachines.
1）综采工作面“三机”系统运动学模型的建立。分析了采煤机工作空间及运动规律，完成了采煤机姿态及位置表达，构建了采煤机空间运动学模型。在此基础上，掌握了液压支架推溜、移架规律，通过制定液压支架联动规则，建立了液压支架跟机联动模型。
2）封闭空间下采煤机动态定位策略的研究。首先对纯惯性导航系统下采煤机定位展开了研究，确定了采煤机惯性导航系统编排，构建了采煤机惯性导航方程，提出了基于四元数的姿态解算策略，进一步在惯性试验平台上对纯惯性导航下采煤机定位性能进行了测试，揭示了惯性导航系统的优势与不足；在此基础上提出基于INS/UWB的采煤机组合导航策略，综合两个子系统存在的优势，研究了位置组合模式下的INS/UWB耦合机制，并进行了组合定位系统的可行性仿真研究，验证了理论模型的正确性。
3）INS/UWB组合导航数据融合策略的研究。掌握了采煤机工况下INS/UWB组合导航系统误差传播特性，对INS与UWB子系统误差分别进行了建模，构建了系统误差方程，在此基础上确定了INS/UWB组合导航系统状态方程与量测方程，研究了基于模糊自适应Kalman滤波技术的INS/UWB组合导航数据融合策略，并进行了INS/UWB组合导航仿真研究；最后通过构建INS/UWB协同定位平台，开展了采煤机定位定姿试验研究，验证了INS/UWB组合导航理论模型的正确性，同时确定了系统精度。
4）工作面“三机”集合约束下任务协调机制的研究。分析了采煤机、液压支架和刮板输送机之间的约束关联，进而研究了工作面“三机”工作参数动态匹配技术，在此基础上建立了“三机”协同任务控制模型，并采用动态规划理论进行了模型求解，进一步提出了基于通用部分全局规划的“三机”任务协调策略，并构建了“三机”协同运动仿真平台，开展了工作面“三机”任务协调试验研究，结果表明，通过建立“三机”实时任务视图，能够进行实时任务约束检测，实现“三机”协同工作，同时提高“三机”机组设备效率与总体效能。
Along with the strong increase of national energy demand, coal-dominated energystructure will last a long time. The safe and efficient mining issue has been a primaryresearch subject in the resources and environment flied, in order to improve equipmentautomatically and realize unmanned mining. Taking the Three Machines of shearer,hydraulic support and scraper conveyor as research object, this dissertation researchesthe positioning estimation and task coordination of Three Machines supported by theNational High Technology Research and Development Program of China. Kinematicsmodel of the Three Machines is established based on the collaboration motion rule of theThree Machines. Then the inertial navigation system (INS) integrated with the Ultra-wideband (UWB) are applied to derive the collaboration positioning model, which canobtain accuracy position and pose of shearer in the enclosed environment. Analyzing theconstraints rules among the shearer, hydraulic support and scraper conveyor, theparameter dynamic matching of the Three Machines is studied. A set of constraints isresearched to find the mechanism of task coordination. Finally the schedulingoptimization and conflict resolution of Three Machines is realized, which can providetheoretical and technical support for intelligent mining. The main research work includes:
1) The kinematics model of the Three Machines is established on coal mine face.The position and pose equations of shearer is described by analyzing the working spaceand motion rule of shearer. Based on researching the propelling and advancing rules ofhydraulic support, the machinery-tracked model of hydraulic support is establishedthrough formulating the linkage rules of hydraulic support.
2) Dynamic positioning strategy for shearer is proposed in the enclosedenvironment. Firstly the positioning estimation of shearer is researched by only using theINS. Strap-down inertial navigation machinery arrangement of shearer is fixed andinertial navigation equation of the shearer is established. Inertial navigation attitudesolution strategy is proposed based on quaternion. The positioning performance ofshearer is verified on the experiment platform, which reveals the advantage anddisadvantage of the INS. Secondly the integrated navigation strategy INS/UWB isproposed further. The coupling mechanism of INS/UWB integrates the advantage of thetwo methods. Finally the proposed method of INS/UWB is tested.
3) Integrated navigation data fusion strategy is researched based on INS/UWB.Firstly the error propagation characteristic of integrated navigation system INS/UWB is studied based on the subsystem positioning error of INS and UWB. Then, systempositioning error state equation can be obtained. Secondly the state equation andmeasurement equation are established based on INS/UWB. Fuzzy adaptive Kalmanfiltering method is proposed and the integrated navigation simulation is researched.Finally the collaboration positioning platform is designed. The position and poseexperiment of shearer is researched, which can verify the integrated navigation model ofINS/UWB.
4) Task coordination mechanism is studied under Three Machines constraints.Firstly a set of constraints among shearer, hydraulic support and scraper conveyor isfound and the parameter dynamic matching of the Three Machines is researched.Secondly Three Machines collaborative control system model is established, which issolved through dynamic programming theory. Generalized partial global planning(GPGP) task coordination mechanism of Three Machines is proposed and the simulationplatform is constructed. Experimental study of task coordination is developed. Theresults show that task coordination mechanism for Three Machines can detect taskconstraints, realize coordination running and improve the performance of ThreeMachines.
引文
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