采煤机截割高度测量模型与测量误差分析

The measurement model and error analysis for shearer cutting height

采煤机截割高度的测量及其误差分析是实现综采工作面自动化的一项重要研究内容。本文针对机身姿态传感器和摇臂摆角传感器测量方案、机身姿态传感器和调高油缸位移传感器测量方案,分别建立了采煤机截割高度测量模型。利用函数误差公式,推导了测量误差模型。以MG1000/2660-WD型采煤机为例,分析了截割高度测量误差分别随俯仰角、摇臂摆角和调高油缸位移的变化规律,得到了两种测量方案截割高度测量误差的最大值的位置。根据算例分析的结果可知,摇臂摆角传感器和调高油缸位移传感器的精度对测量误差的影响较小,机身姿态传感器的精度将决定截割高度测量误差的大小。最后,以采煤机截割高度测量误差小于5 cm为例进行分析,得出两种测量方案下各传感器的精度要求:摇臂摆角传感器精度为0.022°和机身姿态传感器的俯仰角最大动态误差小于0.16°(1 h内),调高油缸位移传感器精度为1 mm和机身姿态传感器的俯仰角最大动态误差小于0.14°(1 h内)。

The measurement and error analysis of shearer cutting height are a significant research task for the longwall mining automation. In this paper, aiming at the body attitude sensor and rocker-arm swing-angle sensor measurement scheme as well as the body attitude sensor and displacement sensor of height-adjustment hydro-cylinder measurement scheme, two measurement models of shearer cutting height are constructed, respectively. Adopting the function error formula, the measurement error models are obtained. Taking the type MG1000/2660-WD shearer as an example, the changing laws of the shearer cutting height versus pitch angle, rocker-arm swing-angle and displacement of height-adjustment hydro-cylinder are analyzed, and the positions where the shearer cutting heights have the maximum values in these two measurement schemes are obtained. According to the analysis result, the accuracies of the rocker-arm swing-angle sensor and displacement sensor of height-adjustment hydro-cylinder have a litter influence on the measurement error, and the accuracy of the body attitude sensor would determine the measurement error of the cutting height. Finally, taking the case where the measurement error of shearer cutting height is less than 5 cm as an example, the accuracy requirements of the sensors in these two measurement schemes are obtained as follows: The accuracy of rocker-arm swing-angle sensor is 0.022° and the maximum dynamic error of the pitch angle of the body attitude sensor is less than 0.16°(within 1 hour), the accuracy of the displacement sensor of height-adjustment hydro-cylinder is 1 mm and the maximum dynamic error of pitch angle of the body attitude sensor is less than 0.14°(within 1 hour).