基于多传感器数据融合的液压支架高度测量方法

张坤; 廉自生; 谢嘉成; 吕凯波; 廖瑶瑶

doi:10.13272/j.issn.1671-251x.2017.09.012

基于多传感器数据融合的液压支架高度测量方法

doi: 10.13272/j.issn.1671-251x.2017.09.012

张坤^{1, 2},
廉自生^{1, 2},
谢嘉成^{1, 2},
吕凯波^{1, 2},
廖瑶瑶^{1, 2}

1.
太原理工大学机械工程学院，山西太原030024
2.
煤矿综采装备山西省重点实验室，山西太原030024

基金项目:

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）

详细信息

中图分类号: TD355.4
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出版历程
- 刊出日期: 2017-09-10

Height measurement method of hydraulic support based on multi-sensor data fusio

ZHANG Kun^{1, 2},
LIAN Zisheng^{1, 2},
XIE Jiacheng^{1, 2},
LYU Kaibo^{1, 2},
LIAO Yaoyao^{1, 2}

1.
College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China
2.
Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan 030024, China

摘要

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623.2 mm高液压支架样机的高度测量误差不大于0.3 mm，与单一倾角传感器测高相比，精度提高了1 mm。
- 液压支架高度 /
- 多传感器数据融合 /
- 倾角传感器 /
- 姿态角度 /
- 分批估计 /
- 自适应加权
Abstract: In view of problems that height measurement of hydraulic support on fully mechanized coal mining face was difficult and measurement result was not accurate, taking two-column shield hydraulic support as an example, expression of hydraulic support height was derived which was calculated by use of hydraulic support attitude angle measured by tilt angle sensor. In order to reduce cumulative error of hydraulic support height measurement caused by angle measurement error of the tilt angle sensor, a height measurement method of hydraulic support based on multi-sensor data fusion was proposed. The method uses batch estimation algorithm and self-adaptive weighting algorithm to fuse hydraulic support height data respectively calculated by angle measured by tilt angle sensor at shield beam or front link. The experimental results show that height measurement error of the method is not more than 0.3 mm for 623.2 mm hydraulic support prototype, and accuracy is improved 1 mm in comparison with height measurement based on single tilt angle sensor.
- hydraulic support height /
- multi-sensor data fusion /
- tilt angle sensor /
- attitude angle /
- batch estimation /
- adaptive weighting