基于多传感器数据融合的液压支架高度测量方法

发布时间：2019-01-23 14:50

【摘要】：针对综采工作面液压支架高度测量困难和测量结果不准确等问题,以两柱掩护式液压支架为例,推导了利用倾角传感器所测液压支架姿态角度计算液压支架高度的表达式。为减小倾角传感器角度测量误差造成的液压支架高度测量累积误差,提出了一种基于多传感器数据融合的液压支架高度测量方法,即利用分批估计算法和自适应加权算法将分别通过掩护梁和前连杆处倾角传感器所测角度计算得到的液压支架高度数据进行融合。实验结果表明,该方法对于623.2mm高液压支架样机的高度测量误差不大于0.3mm,与单一倾角传感器测高相比,精度提高了1mm。
[Abstract]:In view of the problems of the difficulty in measuring the height of the hydraulic support of the fully-mechanized mining face and the inaccurate measurement result, the expression of the height of the hydraulic support is derived by using the attitude angle of the hydraulic support measured by the tilt angle sensor in the case of two-column cover type hydraulic support. in ord to reduce that accumulated error of the height measurement of the hydraulic support caused by the measurement error of the angle sensor, a method for measuring the height of the hydraulic support base on the multi-sensor data fusion is proposed, namely, a batch estimation algorithm and an adaptive weighting algorithm are utilized to fuse the height data of the hydraulic support obtained by the angle sensor at the front link and the front link respectively. The experimental results show that the method is not more than 0.3mm for the height measurement error of the 62.2mm high hydraulic support prototype, and the accuracy is improved by 1 mm compared with the measurement of a single dip angle sensor.
【作者单位】： 太原理工大学机械工程学院;煤矿综采装备山西省重点实验室;
【基金】：国家自然科学基金资助项目(U1610251) 山西省研究生教育创新项目(2017SY031)
【分类号】：TD355.4
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本文编号：2413919