Research On Attitude Monitoring Method Of Hydraulic Support Based On Information Fution Technology

With the intelligent development of the coal mine full-mechanized mining face,as an important part of the coal mining chain,the hydraulic support plays a core role.At present,the attitude monitoring technology,one of the key technologies for the intelligentization of hydraulic support,is still not perfect in theory.Therefore,it is necessary to conduct in-depth research on it.Based on the analysis of the coupling relationship between the two-column shielded hydraulic support and surrounding rock,this paper establishes the attitude monitoring model of the hydraulic support,studies the multi-sensor fusion method of the two parameters of attitude angle and support height,and designs the virtual instrument platform for attitude monitoring.The core content is summarized as follows:(1)The geometric model of the hydraulic support is established with the typical posture of the horizontal position of the hydraulic support base and the rise of the top beam.Based on this,an analytic model of the top beam of the hydraulic support is established,and the relationship between posture angle,column pressure,balance jack pressure,and the magnitude and position of theresultant load is derived using MATLAB.It is concluded that the basis for monitoring the resultant load is to monitor the posture of the hydraulic support.(2)The method of fusion of attitude angle of hydraulic support based on Kalman filter algorithm is studied.The simulation of the algorithm is carried out using MATLAB.The result shows that the fusion effect of Kalman filter fusion algorithm is better,the maximum amplitude after the fusion decreases from3.753 ° to 0.746 °,and the maximum error of the angle decreases from10.8762 to almost zero,which plays a good role in the convergence of the error.The prototype experiment results show that in the static environment,the cumulative error of the gyroscope makes the maximum angle deviation 0.28°,the maximum deviation decreases to 0.09°after fusing,and in the dynamic environment,the inclination sensor is affected by acceleration and the measurement fluctuation is large,and the angle after fusion is closer to the real value.(3)The double axis coupling relationship of the tilt sensor is studied,and the formula for the support height of the foundation in different attitudes is established.Using the angle data of the inclination angle sensor and the gyroscope,the batch estimation algorithm and the adaptive weighting algorithm are studied,and a two-level fusion algorithm for accurately calculating the supporting height of the hydraulic support is proposed.After processing the prototype experimental data,compared with the arithmetic average method and the common batch estimation method,the relative error of the two-level fusionalgorithm is the best and the fusion effect is the best.(4)The virtual instrument attitude data acquisition platform based on LabVIEW software is established.Combining with the analysis of the actual monitoring requirements of the hydraulic support,the attitude data acquisition platform is designed.The rear panel program of each function of gesture data acquisition virtual instrument platform is programmed by LabVIEW graphical language,and the effective monitoring of the posture of hydraulic support is realized.