發(fā)布時間：2018-11-17 20:02

【摘要】：隨著煤炭工業(yè)由勞動密集型向技術(shù)密集型轉(zhuǎn)變,綜采工作面智能化開采成為煤炭生產(chǎn)的發(fā)展方向。液壓支架作為煤礦綜采工作面的關(guān)鍵機電裝備之一,是保證煤礦安全生產(chǎn)的重要支護(hù)設(shè)備。隨著電液控制液壓支架的廣泛應(yīng)用,降低了工人勞動強度,提高了生產(chǎn)安全性。但當(dāng)前液壓支架電液控制系統(tǒng)的姿態(tài)監(jiān)測功能不足,不能滿足液壓支架智能控制需求,液壓支架姿態(tài)監(jiān)測技術(shù)亟待完善。本文以掩護(hù)式液壓支架為研究對象,建立了液壓支架關(guān)鍵姿態(tài)參數(shù)測量模型,研究了液壓支架關(guān)鍵姿態(tài)參數(shù)多傳感融合求解方法,設(shè)計了液壓支架姿態(tài)監(jiān)測系統(tǒng),實現(xiàn)了液壓支架姿態(tài)的監(jiān)測。論文的主要研究內(nèi)容如下:(1)設(shè)計了液壓支架姿態(tài)監(jiān)測系統(tǒng)總體架構(gòu)。在分析液壓支架總體結(jié)構(gòu)及姿態(tài)調(diào)節(jié)原理的基礎(chǔ)上,得到了液壓支架姿態(tài)參數(shù)監(jiān)測要求,建立了基于慣性測量單元和傾角傳感器的液壓支架關(guān)鍵姿態(tài)參數(shù)測量模型,設(shè)計了液壓支架姿態(tài)監(jiān)測系統(tǒng)的總體架構(gòu)。(2)研究了液壓支架頂梁與底座俯仰角度的多傳感融合求解。研究了基于卡爾曼濾波和加權(quán)中值濾波算法的液壓支架姿態(tài)傳感數(shù)據(jù)處理方法,提高了傳感數(shù)據(jù)信噪比,并設(shè)計了一種改進(jìn)加權(quán)融合算法,實現(xiàn)了液壓支架頂梁與底座俯仰角度的求解。(3)研究了液壓支架支護(hù)高度的多傳感融合求解。建立了基于慣性測量單元和傾角傳感器的液壓支架支護(hù)高度求解模型,設(shè)計了基于BP神經(jīng)網(wǎng)絡(luò)的多傳感融合算法,實現(xiàn)了液壓支架支護(hù)高度的求解。(4)設(shè)計了液壓支架姿態(tài)監(jiān)測系統(tǒng)。設(shè)計了液壓支架姿態(tài)監(jiān)測系統(tǒng)整體框架,完成了監(jiān)測系統(tǒng)硬件和軟件的設(shè)計,并對監(jiān)測系統(tǒng)進(jìn)行了調(diào)試,完成了液壓支架姿態(tài)監(jiān)測系統(tǒng)的設(shè)計。(5)搭建了液壓支架姿態(tài)監(jiān)測系統(tǒng)實驗平臺。完成了液壓支架姿態(tài)地面和順槽遠(yuǎn)程監(jiān)控軟件的開發(fā),開展了液壓支架姿態(tài)監(jiān)測實驗,驗證了液壓支架姿態(tài)監(jiān)測系統(tǒng)的可行性。實驗結(jié)果表明:液壓支架支護(hù)高度監(jiān)測平均誤差為0.02m,頂梁俯仰角度監(jiān)測平均誤差為0.34°,底座俯仰角度監(jiān)測平均誤差為0.18°,滿足液壓支架姿態(tài)監(jiān)測的精度要求。
[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 擄, and the average error of base pitch angle monitoring is 0.18 擄, which can meet the precision requirements of hydraulic support attitude monitoring.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TD355.4;TP274

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