A kind of intelligence open coal mine continuous milling machine system
Technical field
The present invention relates to a kind of intelligent open coal mine continuous milling machine system, more particularly to a kind of inertial navigation system/mileages
It counts integrated navigation mode and pid control algorithm is applied in intelligent outdoor mine continuous milling machine system.
Background technology
With national energy strategy development in recent years implement, the coal mining for being gradually from high yield to lasting exploit,
Security development and high-efficiency mining development.The automation and intelligence of coal mine fully-mechanized mining working are to realize that mine is unmanned, safety is high
The committed step of exploitation, and development " digital mine " are imitated, the important of the informationization of mine dynamoelectric equipment and automatization level is improved
Component part.One of the most effective solution of intelligence for realizing coal mining is the automation for realizing production facility of coalmine,
To realize coal mine fully-mechanized mining face nobody or few people's exploitation, wherein to the perception of continuous milling machine job information, transmission, processing, and with this
To controlling for continuous milling machine working condition, this is the key technology for realizing intelligent coal mine.
Continuous milling machine job information includes position and the posture of continuous milling machine, and currently a popular GPS navigation is located in coal mine drive
In can not work normally, and the real-time working posture of continuous milling machine can not be detected.This causes the automation of continuous milling machine system can not
It realizes.Complicated electromagnetic interference and rugged environment, which can transmit general bus, in the transmission process of information, in coal mine causes
Serious interference.
Invention content
The present invention is a kind of intelligent open coal mine continuous milling machine system proposed in order to solve the above problem.Inertial navigation/inner
Journey meter combined system is mounted in continuous milling machine, and continuous milling machine is tunneled forward from drive mouth, after reaching any one position, at once
Know self-position, posture and orientation.This complete autonomous high-precision navigator fix oriented approach, does not need any external information,
Not by external disturbance.Signal transmission line is corroded for the complicated electromagnetic environment and coal dust in reply drive, in such a system
Using optical fiber transmission technique, the collected information of navigation system is transferred to host computer.Host computer to the information of acquisition at
It manages and continuous milling machine is controlled using pid control algorithm, it is made to work according to set direction.
In order to achieve the object of the present invention, we will adopt the following technical scheme that and be implemented.
A kind of intelligence open coal mine continuous milling machine system, including continuous milling machine, working face of coal seam of the continuous milling machine in open coal mine
Carry out coal mining activity, it is characterised in that:Further include host computer, optical cable, inertial navigation system, odometer and the continuous milling machine direction of motion
Control mechanism, the inertial navigation system are installed on the top of continuous milling machine;The odometer is installed on the walking of continuous milling machine
Portion;The continuous milling machine direction of motion control mechanism is set in continuous milling machine;Inertial navigation system, odometer and the Lian Cai
Machine direction of motion control mechanism is connect by optical cable with host computer.
Further, the host computer is PLC control system, and PLC control system includes PID controller, PID controls
Device input displacement departure processed gives continuous milling machine movement side after proportional component, integral element, the calculation process of differentiation element
The direction of motion of continuous milling machine is controlled to control mechanism control signal.
Utilize a kind of intelligent open coal mine continuous milling machine system control continuous milling machine direction of motion side described in claim 1
Method, it is characterised in that:This method comprises the following steps:
Step 1:Continuous milling machine is moved to drive mouth, strapdown inertial navigation system and mileage gauge are separately mounted to connect
The top and movement portion of milling machine, and determine the initial information of continuous milling machine, the initial position being included under system coordinate system;
Step 2:Under swaying base, using inertial system alignment methods, the initial state information of continuous milling machine, i.e. posture are determined
Matrix setup values
Step 3:Optical fibre gyro and accelerometer measure continuous milling machine angular velocity of satellite motion and acceleration in real time in inertial navigation system
Information is spent, attitude matrix is updated by time integral
Step 4:The displacement information of continuous milling machine is measured by the odometer mounted on continuous milling machine movement portion, and with one
The velocity information that average speed V in a sampling period Δ T is exported as continuous milling machine odometer;
Step 5:Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixInformation is to host computer;
Step 6:Host computer is according to the course angle ψ of given requirements0, pitching angle theta0Information calculates and connects in Δ T time
Milling machine offset deviation Δ S;
Step 7:Using pid control algorithm, the working condition of continuous milling machine is controlled, makes it according to set direction
Advance work.
Advantageous effect
System of the present invention include inertial navigation/odometer combined system be mounted in continuous milling machine, continuous milling machine from
Drive mouth tunnels forward, after reaching any one position, learns self-position, posture and orientation at once;This complete autonomous height
Precision navigator fix oriented approach, does not need any external information, not by external disturbance;For the complicated electromagnetism in reply drive
Environment and coal dust corrode signal transmission line, optical fiber transmission technique are used in such a system, by the collected letter of navigation system
Breath is transferred to host computer.Host computer to the information of acquisition handle and control continuous milling machine using pid control algorithm, makes
It works according to set direction.
Description of the drawings
Fig. 1 system scheme of installation;
Fig. 2 System Working Principle schematic diagrames;
Fig. 3 PID control principle schematics
In Fig. 1:1 is host computer;2 be inertial navigation system;3 be continuous milling machine direction of motion control mechanism;4 be odometer;5
For optical cable;6 be the running part of continuous milling machine;
Specific implementation mode
Illustrate the structure of system of the present invention and the first use process of the system below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of intelligence open coal mine continuous milling machine system, including continuous milling machine, continuous milling machine is in open coal mine
Working face of coal seam carries out coal mining activity, it is characterised in that:Further include host computer 1, optical cable 5, inertial navigation system 2,4 and of odometer
Continuous milling machine direction of motion control mechanism 3, the inertial navigation system 2 are installed on the top of continuous milling machine;The odometer 4 is pacified
Running part 6 loaded on continuous milling machine;The continuous milling machine direction of motion control mechanism 3 is installed in continuous milling machine;The inertia is led
Boat system 2, odometer 4 and continuous milling machine direction of motion control mechanism 3 are connect by optical cable 5 with host computer 1.
As shown in Fig. 1 or Fig. 3, the host computer 1 is PLC control system, and PLC control system includes PID controller, institute
The PID controller input displacement departure stated is adopted after proportional component, integral element, the calculation process of differentiation element to connecting
Machine direction of motion control mechanism 3 controls the direction of motion of signal control continuous milling machine.
As shown in Fig. 2, a kind of first use process of intelligent open coal mine continuous milling machine system:
Step 1:The present invention is that a kind of intelligent open coal mine based on inertial navigation system and pid control algorithm is even adopted
Machine system, in order to determine the position relationship of continuous milling machine and working face Seam Roof And Floor, continuous milling machine location coordinate and working face coal
Layer data library coordinate system uses the same coordinate system, i.e., establishes system coordinate system as origin to exploit starting point.
Step 2:Under swaying base, using inertial system alignment methods, the initial state information of continuous milling machine, i.e. posture are determined
Matrix setup values
Step 3:After the coordinate that inertial navigation system measures that continuous milling machine is located under continuous milling machine coordinate system, continuous milling machine is sat
Coordinate under mark system is converted to the coordinate under system coordinate system, and process can be divided into the last time non-swappable basic rotation of sequence:
1, first by OXnYnZnAround ZnAxis rotates the angles ψ, OXnYnZnRotate to OX1Y1Z1Place, current variation can be expressed as:
2 and then by OX1Y1Z1Around x1Axis turns the angles θ, OX1Y1Z1Rotate to OX2Y2Z2Place, this transformation relation can be with
It is expressed as:
3, last time rotation is by OX2Y2Z2Around y2The angles φ are rotated, at this time OX2Y2Z2Rotate to OXbYbZbPlace this time becomes
The relationship of changing is represented by:
Then the coordinate conversion matrix from navigational coordinate system to body coordinate system is:
Due toAll be orthogonal matrix, they be multiplied result be also it is orthogonal, i.e.,It is also orthogonal moment
Battle array.
Step 4:Odometer can send out A, the digital pulse signal of 90 ° of B two-way phase difference when continuous milling machine vehicle moves.Fortune
The advanced B of A are 90 ° when dynamic portion rotates forward, and A is 90 ° before B ultrasound when inverted.The number of pulse relationship proportional to displacement.System is first
Phase demodulation is carried out to the two-way pulse of odometer output, judgement is to rotate forward or invert;Next carries out rotating forward addend, inverts subtrahend.
Displacement increment can be expressed as
Wherein A during exercise, often rotates the displacement moved corresponding to 1 ° for continuous milling machine movement portion;Z is the resolution of odometer
Rate (umber of pulse/turn);M0For the umber of pulse of interior odometer output;KDThe Clock Multiplier Factor of pulse is exported for odometer.
Odometer measures in a sampling period Δ T positioned at continuous milling machine coordinate system OXbYbZbReal displacement is S0, with when
Between its average speed is V (t) in Δ T is odometer output speed, wherein
Step 5:Often pass through identical time Δ T, uploads real-time course angle ψ (t), pitching angle theta (t), attitude matrixThe velocity information V measured with odometer is to host computer;
Step 6:Host computer will in real time be measured according to real-time attitude information and velocity information positioned at the odometer in movement portion
In continuous milling machine coordinate system OXbYbZbLower unit interval inner orbit detection vehicle displacement increment is transformed into system coordinates OXnYnZnLower
Practical continuous milling machine in Δ T, set displacement is under system coordinate system
Then in Δ T, the departure of continuous milling machine displacement is
Step 7:Host computer uses pid control algorithm, is input with the departure Δ S (t) of displacement, and output u (t) is to connect
The control mechanism of the milling machine direction of motion,
Wherein, KpFor proportionality coefficient, TiFor integral coefficient, TdFor differential coefficient.
Control mechanism by controlling the continuous milling machine direction of motion is adjusted continuous milling machine operating attitude, makes it according to set
Direction and track work.
Because complicated electromagnetic environment and coal dust use resistance to corrosion to the corrosion impact of communication line, system in coal mine
By force, the strong optical fiber of anti-electromagnetic interference capability is as communications circuit between inertial navigation system and host computer.