摘要
交替测量式掘进机定位技术在多次交替测量过程中会产生累计测量误差,从而影响掘进机定位精度。目前主要围绕单次测量误差产生原因、误差分布规律及误差减小方法展开研究,未有针对多次交替测量误差分布规律的研究成果。通过分析交替测量式掘进机定位系统工作原理及定位过程,构建了掘进机定位误差模型。采用作图法验证误差模型的正确性,结果表明作图法与误差模型得到的定位误差基本一致,二者仅存在10^(-3)数量级误差。通过误差模型研究了角度测量误差、测距误差、推移步长及掘进机与测量平台间距对掘进机定位误差的影响,结果表明:角度测量误差越大,定位误差曲线的曲率越大,即误差增大越快,且Y_(T)轴定位误差增大速度远大于X_(T)轴;测距误差对X_(T)轴定位误差影响较大,测距误差越小,初始X_(T)轴定位误差越小,但误差变化速度不受影响;随着推移步长增大,Y_(T)轴定位误差曲线曲率增大,即Y_(T)轴定位误差增大速度加快;掘进机与测量平台间距和推移步长对掘进机定位误差的影响基本是等效的。采用正交试验方法分析了各因素对掘进机定位误差的影响程度,结果表明:测距误差对X_(T)轴定位误差影响最大,其次为角度测量误差,推移步长和掘进机与测量平台间距影响最小且二者影响程度一致;角度测量误差对Y_(T)轴定位误差影响最大,其次为推移步长和掘进机与测量平台间距且二者影响程度一致,测距误差影响最小。通过极差分析方法得到了降低定位误差的最优参数组合。
The alternating measurement mode roadheader positioning technology will produce cumulative measurement error in the process of multiple alternating measurement,which will affect the positioning precision of roadheader.At present,the research mainly focuses on the causes of single measurement error,error distribution law and error reduction methods,but there is no research results on the error distribution law of multiple alternating measurement.By analyzing the working principle and positioning process of alternating measurement mode roadheader positioning system,the positioning error model of roadheader is established.The accuracy of the error model is verified by the graphic method,and the results show that the positioning errors obtained by the graphic method and the error model are basically the same,and and there are only 10^(-3) orders of magnitude errors between them.The impact of angle measurement error,distance measurement error,moving step length and distance between the roadheader and measuring platform on roadheader positioning error is studied by error model.The results show that the larger the angle measurement error,the larger the curvature of the positioning error curve,that is,the faster the error grows.And the Y_(T) axis positioning error grows faster than the X_(T) axis.The distance measurement error has a greater impact on the X_(T) axis positioning error,and the smaller the distance measurement error,the smaller the initial X_(T) axis positioning error.However,the error change speed is not affected.As the moving step length increases,the Y_(T) axis positioning error curvature increases,that is,the Y_(T) axis positioning error growing speed increases.The impacts of the distance between the roadheader and measuring platform and the moving step length on roadheader positioning error are basically equivalent.The orthogonal test method is used to analyze the impact degree of each factor on the positioning error of roadheader.The results show that the distance measurement error has the greatest impact on the positioning error of the X_(T) axis,followed by the angle measurement error.The moving step length and the distance between the roadheader and the measuring platform have the smallest impact and the two have the same degree of impact.The angle measurement error has the greatest impact on the positioning error of the Y_(T) axis,followed by the moving step length and the distance between the roadheader and the measuring platform,and the impacts of the two are the same.The impact of the distance measurement error is the smallest.The range analysis method is used to obtain the optimal parameter combination to reduce the positioning error.
作者
李志海
刘治翔
谢苗
李玉岐
王帅
LI Zhihai;LIU Zhixiang;XIE Miao;LI Yuqi;WANG Shuai(Shanxi Xishan Jinxing Energy Co., Ltd., Lüliang 033600, China;Liaoning Academy of Mineral Resources Development and Utilization Technology and Equipment Research Institute, Liaoning Technical University, Fuxin 123000, China)
出处
《工矿自动化》
北大核心
2022年第1期7-15,32,共10页
Journal Of Mine Automation
基金
国家自然科学基金资助项目(51904142,51874158)
辽宁省自然科学基金计划指导项目(2019-ZD-0036)。
关键词
煤矿智能掘进
掘进机定位
交替测量式定位
定位误差
角度测量误差
测距误差
正交分析
intelligent roadway heading of coal mine
roadheader positioning
alternating measurement mode positioning
positioning error
angle measurement error
distance measurement error
orthogonal analysis
