基于多传感器数据融合的液压支架高度测量方法

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

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。

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 hydraulicsupport 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.