液压支架姿态角度测量系统

摘要

In view of problem that measuring result is inaccurate while using single angle sensor to realize attitude angle measurement of hydraulic support on fully mechanized coal mining face,an attitude angle measuring system of hydraulic support based on tilt sensor and gyroscope was proposed.The system uses SVT626T type tilt sensor and ML7100 type three-axis gyroscope to measure inclination angle and axial deflection angle,and data of the two kinds of sensor are fused by Kalman filter taking pitch angle as an example.The Matlab simulation and experimental results show that the system can effectively solve the problems of the measurement error caused by acceleration of the top beam and the drift and error accumulation of the gyroscope caused by long time measurement,and improves the attitude measuring accuracy.%针对采用单一角度传感器实现综采工作面液压支架姿态角度监测时测量结果不准确的问题,提出了一种基于倾角传感器和陀螺仪的液压支架姿态角度测量系统.该系统采用SVT626T型倾角传感器和ML7100型三轴陀螺仪测量倾角和轴向偏转角度,并以俯仰角为例,用卡尔曼滤波对2种传感器测量的角度进行数据融合.Matlab仿真及实验结果表明,该系统有效解决了倾角传感器因顶梁变加速运动导致的测量误差和陀螺仪因长时间测量导致的漂移和误差累积问题,提高了顶梁姿态角度测量精度.