Research On Motion State Monitoring Technology Of Hydraulic Support Driven By Posture Data

Intelligent of integrated mechanized coal mining is an important flay of modernization of coal mining.Due to the complicated working conditions of fully mechanized mining face,hydraulic support is in the process of continuous shifting,and the posture trajectory of the moving member of hydraulic support is uncertain.Therefors,The parametric virtual monitoring is of great significance for realizing the intelligent control of hydraulic support.In this paper,the sensor data processing method of hydraulic support motion sensing is studied.The posture calculation model of hydraulic support motion component is established,and the virtual monitoring software of motion state is developed.The main work and research results of the thesis are as follows:?1?The functions of hydraulic support structure,working principle and motion state monitoring system are analyzed.The overall structure of the motion monitoring system of hydraulic support based on posture data is designed,and the corresponding software flow and main modules are studied.?2?The filtering method of inclinometer and inertial measurement unit of hydraulic support canopy and base is studied.and the posture data filtering experiment is carried out.The adaptive weighting algorithm of the canopy and the base posture angle is designed and simulated.The simulation experiment shows that the average error of the pitch angle and yaw angle of the combined canopy base is significantly smaller than the original inclination angle.?3?Based on the D-H kinematics model of the hydraulic support,the posture parameter calculation method of the hydraulic support moving member is designed.The method for solving the parameters that can not be directly solved in the hydraulic support motion state is given.The simulation shows that the mean square errors of?₂??₃??₁??₂ are 0.000454,0.000957,0.000506,0.000945,respectively,which satisfies the accuracy requirements for the motion state monitoring of hydraulic support.In order to verify the feasibility of the hydraulic support motion state monitoring system,this paper developed a virtual monitoring software for the motion state of the hydraulic support based on Unity 3D with the ZY2400-12-20D hydraulic support.The monitoring system experimental platform of hydraulic support motion state driven by posture data was built,and some experiments have been carried out.The experiment results show that the average posture error of the hydraulic support moving member is0.07°,and the displacement average error is 1.60cm,which can meet the accuracy requirements of the virtual reality-based hydraulic support motion monitoring system.