摘 要

回转窑作为一种低速、重载、高温环境下工作的大型回转机械设备。在工作过程中，会因载荷不均匀和支撑部件不均匀的机械磨损，使筒体轴线产生偏差和弯曲，严重时会使窑体部件损坏，被迫停窑发生重大安全事故。因此对回转窑中心线测量技术进行深入研究，并逐步完善使之成熟十分必要。

本文所研究的是一种基于全站仪自动识别和定位功能的远距离动态三维测量方法，该方法由武汉理工大学回转窑测量团队提出并研发投入使用，但其在实际测量过程中结果精度相较发明专利中测窑方法尚有偏差。文中对其测量原理和实施步骤，以及原始测量数据的处理方法进行详细介绍。针对目前数据处理时坐标转换所用的二次旋转平移法、坐标投影所用的4%斜面投影法、和圆度拟合所用最小二乘法展开研究。其中二次旋转法平移法应用时需要满足坐标轴与原始坐标系基准面重合或平行的前提条件，在实际测量中经常会出现三个坐标轴与原始坐标系三个基准面均有夹角的情况，这种情况下，二次旋转平移法将不再适用，因为在变换中忽略掉一个角参量，会导致整合到原始坐标系中后，坐标值存在误差。4%投影法则需要满足回转窑中心线平行于原始坐标系YOZ面，并且轮带无偏摆的前提条件，这与实际情况不符，所投影得到的点会是分布在一个椭圆上的数个离散点，此时代入最小二乘法进行圆度拟合，会直接导致最终结果产生计算误差。本文针对以上内容，评估这三种数学模型对测量结果的影响，并寻找更优、更为精确的数据处理方法。

关键词：回转窑；动态轴线；空间参数；测量技术；全站仪；数据处理

Abstract

Rotary kiln is a kind of large-scale rotary machinery and equipment working in low speed, heavy load and high temperature environment. In the process of working, the axis of the cylinder will be deviated and bent due to uneven load and uneven mechanical wear of supporting parts. In serious cases, the parts of the kiln will be damaged and the kiln will be forced to shut down. Therefore, it is necessary to study the measurement technology of rotary kiln center line and gradually improve it.

This paper studies a long-distance dynamic three-dimensional measurement method based on the automatic identification and positioning function of total station. This method was put forward and developed by the rotary kiln measurement team of Wuhan University of Technology, and put into use. However, the accuracy of the results in the actual measurement process is still different from that of the kiln measurement method in the invention patent. In this paper, the measurement principle and implementation steps, as well as the processing method of the original measurement data are introduced in detail. In this paper, the quadratic rotation translation method, the 4% inclined plane projection method and the least square method for roundness fitting used in coordinate transformation are studied. The precondition of coincidence or parallelism between the coordinate axis and the reference plane of the original coordinate system should be satisfied when the second rotation translation method is applied. In practice, the angle between the three coordinate axes and the three reference planes of the original coordinate system often appears. In this case, the second rotation translation method will no longer be applicable, because ignoring an angle parameter in the transformation will lead to integration into the original coordinate system. After the initial coordinate system, there are errors in the coordinate values. The projection rule of 4% needs to satisfy the precondition that the center line of rotary kiln is parallel to the YOZ plane of the original coordinate system and the wheel belt is unbiased. This is not consistent with the actual situation. The projected points will be several discrete points distributed on an ellipse. At this time, the roundness fitting by substituting the least square method will directly lead to the calculation error of the final results. In view of the above contents, this paper evaluates the influence of these three mathematical models on the measurement results, and seeks for better and more accurate data processing methods.

Key words：rotary kiln;Dynamic axis;Spatial parameters;measuring technique;Total station;data processing

目 录

摘要 I

Abstract II

第1章 绪论 1

1.1回转窑概述 1

1.1.1回转窑发展概况 1

1.1.2回转窑结构组成 1

1.1.3回转窑轮带筒体和托轮轴线测量意义 2

1.1.4回转窑轮带筒体和托轮轴线测量要求 3

1.2课题来源及研究目的与意义 3

1.2.1课题来源 3

1.2.2课题研究目的与意义 4

1.3国内外研究现状 4

1.4研究目标和内容 5

1.4.1研究目标 5

1.4.2研究内容和方法 5

1.5小结 5

第2章 测量方法介绍 6

2.1测量方法介绍 6

2.2测量仪器和测量步骤 6

2.2.1测量仪器 6

2.2.2测量步骤 7

2.3数据处理方法和原理 8

2.3.1坐标转换 9

2.3.2坐标投影 11

2.3.3圆度拟合 12

2.4小结 13

第3章 数据处理误差分析和优化 14

3.1数据处理误差分析 14

3.2坐标投影优化 16

3.3小结 18

第4章 全站仪型号选择 19

4.1工作环境分析 19

4.2全站仪型号选择 19

第5章 总结与展望 21

5.1总结 21

5.2展望 21

参考文献 22

致 谢 23

第1章 绪论

1.1回转窑概述

1.1.1回转窑发展概况

回转窑是一个倾斜度为3%-6%的圆筒需安装设备^[1]，在低速旋转运动中，将物料在筒体内翻动，进行物理、化学反应的大型化工生产设备。自1898年通过实验室验证并应用以来，回转窑技术不断地发展完善，逐渐应用于各种热工行业，并在生产设备中处于关键地位。目前广泛应用于建材的水泥、黑色冶金、有色冶金、化工、非金属矿、耐火材料、造纸等行业^[2]。本文所讨论研究的回转窑是应用于水泥生产的多档回转窑。

现阶段，由于节能减排和绿色生产的推行，投入生产的回转窑逐渐向日产5000吨以上的大型窑靠拢，以降低单位产品的能源消耗和成本。目前，投入使用的回转窑直径已经达到7.5m，日产量已经达到12000吨 ^[1]。同时，水泥回转窑协同处理废弃物也是一项功效卓著的环保产业，将生活生产垃圾作为原燃材料，不仅降低生产成本，更为人类宜居工程尽一份责任和义务。

1.1.2回转窑结构组成

水泥回转窑主体结构包括筒体、轮带、支撑装置、传动装置、档轮装置和窑头窑尾密封装置。