液压支架姿态监测关键技术研究

发布时间：2018-11-17 20:02

【摘要】：随着煤炭工业由劳动密集型向技术密集型转变,综采工作面智能化开采成为煤炭生产的发展方向。液压支架作为煤矿综采工作面的关键机电装备之一,是保证煤矿安全生产的重要支护设备。随着电液控制液压支架的广泛应用,降低了工人劳动强度,提高了生产安全性。但当前液压支架电液控制系统的姿态监测功能不足,不能满足液压支架智能控制需求,液压支架姿态监测技术亟待完善。本文以掩护式液压支架为研究对象,建立了液压支架关键姿态参数测量模型,研究了液压支架关键姿态参数多传感融合求解方法,设计了液压支架姿态监测系统,实现了液压支架姿态的监测。论文的主要研究内容如下:(1)设计了液压支架姿态监测系统总体架构。在分析液压支架总体结构及姿态调节原理的基础上,得到了液压支架姿态参数监测要求,建立了基于惯性测量单元和倾角传感器的液压支架关键姿态参数测量模型,设计了液压支架姿态监测系统的总体架构。(2)研究了液压支架顶梁与底座俯仰角度的多传感融合求解。研究了基于卡尔曼滤波和加权中值滤波算法的液压支架姿态传感数据处理方法,提高了传感数据信噪比,并设计了一种改进加权融合算法,实现了液压支架顶梁与底座俯仰角度的求解。(3)研究了液压支架支护高度的多传感融合求解。建立了基于惯性测量单元和倾角传感器的液压支架支护高度求解模型,设计了基于BP神经网络的多传感融合算法,实现了液压支架支护高度的求解。(4)设计了液压支架姿态监测系统。设计了液压支架姿态监测系统整体框架,完成了监测系统硬件和软件的设计,并对监测系统进行了调试,完成了液压支架姿态监测系统的设计。(5)搭建了液压支架姿态监测系统实验平台。完成了液压支架姿态地面和顺槽远程监控软件的开发,开展了液压支架姿态监测实验,验证了液压支架姿态监测系统的可行性。实验结果表明:液压支架支护高度监测平均误差为0.02m,顶梁俯仰角度监测平均误差为0.34°,底座俯仰角度监测平均误差为0.18°,满足液压支架姿态监测的精度要求。
[Abstract]:With the transformation of coal industry from labor-intensive to technology-intensive, intelligent mining of fully mechanized mining face has become the development direction of coal production. As one of the key mechanical and electrical equipment in fully mechanized coal mining face, hydraulic support is an important supporting equipment to ensure the safety of coal mine production. With the wide application of electro-hydraulic control hydraulic support, the labor intensity of workers is reduced and the safety of production is improved. However, the attitude monitoring function of the electro-hydraulic control system of the hydraulic support is insufficient, which can not meet the demand of intelligent control of the hydraulic support, and the attitude monitoring technology of the hydraulic support needs to be improved urgently. This paper takes the sheltered hydraulic support as the research object, establishes the key attitude parameter measurement model of the hydraulic support, studies the multi-sensor fusion solution method of the key attitude parameter of the hydraulic support, and designs the attitude monitoring system of the hydraulic support. The monitoring of hydraulic support posture is realized. The main research contents are as follows: (1) the overall structure of the hydraulic support attitude monitoring system is designed. Based on the analysis of the overall structure of the hydraulic support and the principle of attitude adjustment, the monitoring requirements for the attitude parameters of the hydraulic support are obtained, and the key attitude parameter measurement model of the hydraulic support based on the inertial measurement unit and the inclination sensor is established. The overall structure of the hydraulic support attitude monitoring system is designed. (2) the multi-sensor fusion solution of the pitch angle between the top beam and the base of the hydraulic support is studied. Based on Kalman filter and weighted median filter, the attitude sensing data processing method of hydraulic support is studied, which improves the signal-to-noise ratio of sensing data, and designs an improved weighted fusion algorithm. The pitch angle between the top beam and the base of the hydraulic support is solved. (3) the multi-sensor fusion solution of the supporting height of the hydraulic support is studied. The support height solution model of hydraulic support based on inertial measurement unit and inclination sensor is established, and a multi-sensor fusion algorithm based on BP neural network is designed. The support height of hydraulic support is solved. (4) the attitude monitoring system of hydraulic support is designed. The whole frame of the hydraulic support attitude monitoring system is designed, the hardware and software of the monitoring system are designed, and the monitoring system is debugged. The design of the hydraulic support attitude monitoring system is completed. (5) the experimental platform of the hydraulic support attitude monitoring system is built. The development of the remote monitoring software for hydraulic support posture ground and downstream slot is completed, and the attitude monitoring experiment of hydraulic support is carried out, which verifies the feasibility of the hydraulic support attitude monitoring system. The experimental results show that the average error of support height monitoring is 0.02 m, the average error of top beam pitch angle monitoring is 0.34 掳, and the average error of base pitch angle monitoring is 0.18 掳, which can meet the precision requirements of hydraulic support attitude monitoring.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD355.4;TP274

【参考文献】

相关期刊论文 前10条

1 陈冬方;李首滨;;基于液压支架倾角的采煤高度测量方法[J];煤炭学报;2016年03期

2 冯利国;;煤矿井下安全生产现状及解决措施[J];中国新通信;2016年02期

3 文治国;侯刚;王彪谋;任怀伟;赵国瑞;;两柱掩护式液压支架姿态监测技术研究[J];煤矿开采;2015年04期

4 牛剑峰;;液压支架高度测量技术研究与应用[J];煤矿机械;2015年05期

5 陈占营;郑晓雯;雷乔治;翟东寒;;改进遗传算法在求解液压支架位姿参数中的应用[J];煤矿机械;2014年07期

6 苏菲;尚德重;汪建波;刘小马;朱谦;;基于陀螺仪和加速度计的帆船运动姿态测量[J];太赫兹科学与电子信息学报;2014年02期

7 陆庭锴;马鹏宇;冯卓照;余佳鑫;;液压支架姿态动态监测与控制系统设计[J];煤炭科学技术;2014年S1期

8 王金华;;特厚煤层大采高综放工作面成套装备关键技术[J];煤炭科学技术;2013年09期

9 郑耀东;陈泓旭;;液压支架立柱自动补压控制顶板技术研究[J];山东工业技术;2013年07期

10 马英;;综采工作面三机成套技术[J];辽宁工程技术大学学报(自然科学版);2013年05期

相关博士学位论文 前1条

1 闫海峰;液压支架虚拟监控关键技术研究[D];中国矿业大学;2011年

相关硕士学位论文 前10条

1 张晓兵;独轮机器人姿态检测信息融合算法的研究[D];哈尔滨工业大学;2015年

2 陈瑾;穿戴式人体姿态监测系统研究和设计[D];中南大学;2014年

3 邹荣;四旋翼飞行器姿态控制系统的研究与设计[D];中南大学;2014年

4 杨永枝;磁控位移传感器的研究与应用[D];太原理工大学;2014年

5 刘啸;大采高综放工作面“三机”配套选型研究及工程应用[D];安徽理工大学;2013年

6 郑成辉;基于MEMS传感的救灾人员姿态监测系统算法研究[D];浙江工业大学;2013年

7 刘征;对我国煤矿矿难频发的伦理思考[D];湖南工业大学;2012年

8 韩欣玲;我国煤炭企业安全生产的政府监管研究[D];河南大学;2012年

9 朱殿瑞;掩护式液压支架姿态监测的理论与主要部件的有限元分析[D];太原理工大学;2012年

10 任锡义;液压支架整体动态特性仿真分析[D];太原理工大学;2010年

，

本文编号：2338895