Hydraulic support straightening method based on maximum correntropy Kalman filtering algorithm

The existing hydraulic support straightening method is affected by the sensor measurement error and the hydraulic support moving error, which make the straightening error larger. In the non-Gaussian measurement noise environment, the traditional Kalman filter (KF) straightening method has low accuracy in predicting the trajectory of the hydraulic support, and cannot achieve the ideal straightening effect. In order to solve the above problems, a hydraulic support straightening method based on maximum correntropy Kalman filtering (MCKF) algorithm is proposed. Firstly, the straightening reference line is determined according to the position coordinates of the hydraulic support and the advancing direction of the working face. Secondly, the state equation and observation equation of the linear moving system of hydraulic support is constructed according to the straightening principle of hydraulic support. After MCKF algorithm processing, the predicted trajectory of hydraulic support after moving is obtained. Finally, the moving distance compensation amount of each hydraulic support is calculated according to the predicted trajectory of the hydraulic support and the straightening reference line, so as to achieve the purpose of straightening. The simulation results show that the hydraulic support straightening method based on the MCKF algorithm can effectively reduce the influence of measurement noise and process noise on the straightness of the hydraulic support compared with the existing straightening method based on the KF algorithm. When the measurement noise obeys non-Gaussian distribution, the average of mean square error of the method is only 4.76 mm, which is far less than the mean square error of the straightening method based on the KF algorithm. The real trajectory of the hydraulic support can be predicted more accurately, which reduces the straightening error of the hydraulic support by 36% after straightening. The method thus effectively improves the straightening precision. The straightening error of the hydraulic support is only related to this straightening process, which effectively avoids the accumulated error.