| With the transition of coal industry from labor-intensive to technology-intensive,intelligent mining for fully mechanized coal mining working face is direction of coal production.As one of the key electromechanical equipment in fully mechanized coal mining working face,hydraulic support is an important supporting equipment assuring the safety production in coal mine.With the wide usage of electro-hydraulic control for hydraulic support,labour intensity of mining workers has been reduced,and security of coal production has been improved.The current electro-hydraulic control system of hydraulic support cannot satisfy the requirement of intellectual control for hydraulic support due to insufficient function of posture monitoring,thus,hydraulic support posture monitoring technology is urgent to be improved.This paper takes the two-prop shield powered hydraulic support as goals.Multi-sensor fusion solving method and measurement model of hydraulic support key posture parameters has been researched,and posture monitoring system has been designed to realize posture monitoring.The contents of this paper are listed as follows:(1)Overall architecture of hydraulic support posture monitoring system was designed.By analyzing the overall structure and posture adjustment principle of hydraulic support,the posture monitoring parameter demand and the overall structure of hydraulic support posture monitoring system were proposed with establishing key posture parameters measurement models based on inertial measurement unit and inclinometer.(2)The canopy and base elevation angle solving of hydraulic support was researched based on multi-sensor fusion.Kalman filter and weighted median filter were researched to increase the signal-to-noise ratio of hydraulic support posture sensor data.An improved weighted fusion algorithm was designed to solve the canopy and base elevation angle of hydraulic support.(3)The supporting height solving of hydraulic support was researched based on multi-sensor fusion.Supporting height solving model of hydraulic support was established based on inertial measurement unit and inclinometer.A multi-sensor fusion algorithm based on BP neural network was designed to solve the Supporting height of hydraulic support.(4)Posture monitoring system of hydraulic support was designed.Overall framework of hydraulic support posture monitoring system was designed.Hardware and software design of monitoring system have been accomplished.The design of posture monitoring system for hydraulic support was accomplished depend on the system debugging.(5)The posture monitoring system experimental platform of hydraulic support was established.The ground and groove posture remote monitoring software of hydraulic support were developed,and the posture monitoring experiment has been carried out to verify its feasibility.The results showed that the hydraulic support posture monitoring average error of supporting height,canopy elevation angle and base elevation angle were 0.02 m,0.34° and 0.18° respectively.The results of hydraulic support posture monitoring satisfied accuracy requirement. |
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