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液压支架关键姿态参数测量系统

刘相通 李曼 沈思怡 曹现刚 刘俊祺

刘相通,李曼,沈思怡,等. 液压支架关键姿态参数测量系统[J]. 工矿自动化,2024,50(4):41-49.  doi: 10.13272/j.issn.1671-251x.2023120006
引用本文: 刘相通,李曼,沈思怡,等. 液压支架关键姿态参数测量系统[J]. 工矿自动化,2024,50(4):41-49.  doi: 10.13272/j.issn.1671-251x.2023120006
LIU Xiangtong, LI Man, SHEN Siyi, et al. Measurement system for key attitude parameters of hydraulic support[J]. Journal of Mine Automation,2024,50(4):41-49.  doi: 10.13272/j.issn.1671-251x.2023120006
Citation: LIU Xiangtong, LI Man, SHEN Siyi, et al. Measurement system for key attitude parameters of hydraulic support[J]. Journal of Mine Automation,2024,50(4):41-49.  doi: 10.13272/j.issn.1671-251x.2023120006

液压支架关键姿态参数测量系统

doi: 10.13272/j.issn.1671-251x.2023120006
基金项目: 国家自然科学基金资助项目(52274158,51834006)。
详细信息
    作者简介:

    刘相通(1996—) ,男,河北唐山人,硕士研究生,研究方向为测试计量技术与仪器,E-mail:15832502671@163.com

    通讯作者:

    李曼(1964—),女,陕西西安人,教授,研究方向为矿山设备智能检测与控制,E-mail:liman151@xust.edu.cn

  • 中图分类号: TD355.4

Measurement system for key attitude parameters of hydraulic support

  • 摘要: 针对现有液压支架姿态监测方法测量参数不全面、精度和可靠性不高、工况环境适应性差等问题,提出一种直接测量与间接测量相结合的液压支架关键姿态参数测量系统,研制了以DSP为核心、以MEMS惯导为测量元件、具备LoRa无线通信功能的姿态传感器。分析得出了影响液压支架支护姿态的关键参数,其中底座、前连杆、掩护梁和顶梁与水平面夹角及推移步距采用直接测量方式,支护高度、立柱与平衡千斤顶长度采用间接测量方式。该系统包括安装于底座、前连杆、掩护梁、顶梁处的4个姿态传感器和1个安装于底座的红外激光测距传感器,采用LoRa无线通信方式组网。底座处的姿态传感器作为网关(即网关传感器),用于测量底座与水平面的夹角,控制红外激光测距传感器测量推移步距,并解算支护高度、立柱长度和平衡千斤顶长度;其他3处的姿态传感器作为节点(即节点传感器),用于测量前连杆、掩护梁和顶梁与水平面的夹角,并将获得的角度信息上报至网关传感器。测试结果表明,姿态角测量的最大绝对误差为0.2°,支护高度、立柱长度、平衡千斤顶长度测量的最大百分比相对误差分别为0.78%,0.72%,0.83%,推移步距测量的最大绝对误差为1.9 mm。以ZY9000/22/45D型液压支架为例,分析其在不同姿态角范围下的误差分布,得到支护高度最大测量误差为27.4 mm,立柱长度最大测量误差为16.6 mm。

     

  • 图  1  双立柱掩护式液压支架

    Figure  1.  Double column shield hydraulic support

    图  2  液压支架二维模型

    Figure  2.  Two dimensional model of hydraulic support

    图  3  液压支架关键姿态参数测量系统硬件组成

    Figure  3.  Hardware composition of the key attitude parameter measurement system for hydraulic supports

    图  4  姿态传感器系统硬件结构

    Figure  4.  Hardware structure of attitude sensor system

    图  5  姿态传感器电路实物

    Figure  5.  Physical object of attitude sensor circuit

    图  6  网关传感器程序流程

    Figure  6.  Gateway sensor program flow

    图  7  姿态传感器角度测量精度测试平台

    Figure  7.  Experimental platform for angle measurement accuracy of attitude sensor

    图  8  姿态传感器角度测量精度测试结果

    Figure  8.  Experimental results of angle measurement accuracy of attitude sensor

    图  9  测试平台与传感器安装位置

    Figure  9.  Experimental platform and sensor installation position

    图  10  液压支架姿态参数测量数据及误差分布

    Figure  10.  Measurement data and error distribution of hydraulic support attitude parameters

    图  11  支护高度与立柱长度误差曲面

    Figure  11.  Curved surface of support height error and column length error

    表  1  液压支架测试平台尺寸参数

    Table  1.   Dimensional parameters of hydraulic support experimental platform mm

    变量 变量 变量 变量
    $ {l}_{1} $ 450 $ {l}_{7} $ 286 $ {l}_{13} $ 1 370 $ {h}_{6} $ 289
    $ {l}_{2} $ 313 $ {l}_{8} $ 285 $ {h}_{1} $ 131 $ {h}_{7} $ 96
    $ {l}_{3} $ 742 $ {l}_{9} $ 197 $ {h}_{2} $ 282 $ {h}_{8} $ 150
    $ {l}_{4} $ 484 $ {l}_{10} $ 391 $ {h}_{3} $ 114 $ {h}_{9} $ 300
    $ {l}_{5} $ 475 $ {l}_{11} $ 211 $ {h}_{4} $ 206 $ {h}_{10} $ 114
    $ {l}_{6} $ 632 $ {l}_{12} $ 519 $ {h}_{5} $ 180
    下载: 导出CSV

    表  2  测试误差统计分析结果

    Table  2.   Experimental error statistical analysis results

    参数 e $ \overline{e} $ $ \sigma $ $ \Delta R$/% $ \overline{R} $/%
    θ 0.2° 0.1° 0.06 1.00 0.39
    H 4.9 mm 2.5 mm 1.40 0.78 0.35
    M 3.5 mm 1.7 mm 1.00 0.72 0.31
    N 1.5 mm 0.9 mm 0.40 0.83 0.36
    S 1.9 mm 0.2 mm 0.90 1.27 0.98
    下载: 导出CSV

    表  3  ZY9000/22/45D型液压支架尺寸参数

    Table  3.   Dimensional parameters of ZY9000/22/45D hydraulic support mm

    变量 变量 变量 变量
    $ {l}_{1} $ 850 $ {l}_{7} $ 525 $ {l}_{13} $ 2910 $ {h}_{6} $ 540
    $ {l}_{2} $ 850 $ {l}_{8} $ 525 $ {h}_{1} $ 350 $ {h}_{7} $ 150
    $ {l}_{3} $ 1080 $ {l}_{9} $ 940 $ {h}_{2} $ 920 $ {h}_{8} $ 150
    $ {l}_{4} $ 1023 $ {l}_{10} $ 1160 $ {h}_{3} $ 280 $ {h}_{9} $ 560
    $ {l}_{5} $ 1845 $ {l}_{11} $ 235 $ {h}_{4} $ 215 $ {h}_{10} $ 390
    $ {l}_{6} $ 1940 $ {l}_{12} $ 930 $ {h}_{5} $ 215
    下载: 导出CSV
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  • 收稿日期:  2023-12-03
  • 修回日期:  2024-04-17
  • 网络出版日期:  2024-05-10

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