捷聯(lián)式慣導(dǎo)系統(tǒng)在無人掘進機中的應(yīng)用.pdf

1、重慶大學(xué)碩士學(xué)位論文捷聯(lián)式慣導(dǎo)系統(tǒng)在無人掘進機中的應(yīng)用姓名：馮大龍申請學(xué)位級別：碩士專業(yè)：導(dǎo)航、制導(dǎo)與控制指導(dǎo)教師：柴毅20070420重慶大學(xué)碩士學(xué)位論文英文摘要ABSTRACTBoom—typeRoadheaderhavebeusedundergroundwidelyitsenvironmentisbadItisahotspotthathowtocontroltheroadheaderandreleaseworkersfromhar

2、dworkinganddangerousconditionBecausetherearemanyrestrictions，thepaperexplorestheuseofInertialNavigationSystem(INS)inroadheadertomakeittobeintelligentandunmannedOnthebasisofintroducingtheSINS’Sstructureandsystemprinciple，

3、thispaperanalysesthearithmeticofattitudematrix；FinallyitexplorestherealizationofsoftandhardwareinunmannedroadheadersystemTonavigate，thenavigationcomputergetsgyroscopeandaccelerometerparametersfromInertialMeasurementUnita

4、longinertialframethreeaxesandcomputethemThecomputermustcomputetheattitudematrixrealtimeThearithmeticofattitudematrixisthekeyThispaperexploresthearithmeticofattitudematrix，especiallytheattitudearithmeticquatemionTmspapere

5、xploresthecontrolandimplementofunmannedroadheaderThecommunicationandcontrolnetisCANbusThesystemiscomposedofmonitoringunit，embeddedcontrollerandmeasure&operationunitAftertheroadheaderstartup，theuppermachineloadstrackdatai

6、nthePLCthroughlowermachineandshowthedesignedtraceonthescreenFromtheInertialMeasurementUnit(IMU)andotherSdIsors，wegetgyroscopeandaccelerometersignalandtheextenddistanceandrollangleofroadheaderannByCANbus，thesesignalsaretr

7、ansmittedtoembeddedcontrollerworkingouttherealtimepositionofroadheaderandattitudeanglesincludingcourseangle，pitchangleandrollanglePLCgetstheembeddedcontroller’scontrolsignalandcontrolstheroadheader’Sattitude，drivestheroa

8、dheaderwalkandcutalongthedesignedtrackThesystemsoftwareisprogrammedwimClanguagethecomputerdrawspracticaltrackonthescreenincontrastwitllthedesignedtrackthuswecouldmonitorhowtheroadheaderworknlchardwareandsoftwarerunsteadi