基于捷联惯导煤巷悬臂式无人掘进机断面成形智能控制研究

项目名称： 基于捷联惯导煤巷悬臂式无人掘进机断面成形智能控制研究

项目编号： No.51304075

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 矿业工程

项目作者： 赵杰

作者单位： 黑龙江科技大学

项目金额： 25万元

中文摘要： 针对煤尘等对煤巷悬臂式无人掘进机导向和姿态测量的影响以及工作装置的非线性、负载的不确定性、外界干扰等对煤巷断面成形精度的影响，引入完全自主式捷联惯性导航系统，提出糅合模糊理论、自适应和变结构智能控制算法。依据牛顿相对惯性空间力学定律，确定掘进机体导向和姿态，采用拉格朗日动力学分析方法，建立截割头空间位置、悬臂转角、掘进机姿态之间的关系，在最大行走坡度、悬臂截割范围等条件约束下，规划掘进机截割轨迹。协调控制行走机构和悬臂摆动，设计智能控制算法，把自适应模型跟踪控制与变结构控制相结合，通过模糊理论柔化控制信号减轻或避免抖振现象，确保控制系统实时性和复杂情况下断面成形精度，为井下高精度导向、姿态测量和大型煤矿机械智能控制的研究和开发提供了新方法和理论基础。

中文关键词： 捷联惯导；无迹粒子滤波；运动学模型；神经网络；多电平逆变

英文摘要： Coal dust impacts on boom-type unmanned roadheader orientation and attitude measurement in the coal roadway. Cross section profiling precision of coal roadway is influenced by the device nonlinearity, the load uncertainty and the external disturbance. In order to overcome these problems the completely independent strapdown inertial navigation system is introduced and Intelligent control algorithm is put forward combined with fuzzy theory, adaptive control and variable structure control. According to Newton's law of relative to inertial space roadheader orientation and attitude are derived. Through the dynamic analysis of Lagrange a relationship is established between the location of cutting head, the angle of cutting cantilever and the posture of roadheader. Cutting trajectory of roadheader is planned in the limit such as maximum walking slope, cutting range of the cantilever etc. The intelligent control algorithm is designed coordinated walking mechanism with cantilever. Adaptive model tracking control and variable structure control are incorporated through the fuzzy theory to soften the control signal to reduce or avoid the chattering phenomenon. It is ensured the real-time control and cross section profiling accuracy in the complex condition. A new method and theory basis are studied and developed for the hig

英文关键词： Strapdown inertial navigation；unscented particle filter；kinematic model；neural networks；multilevel inverter