1. School of Mechatronical Engineering,Beijing Institute of Technology,Beijing　 100081,China;2. Beijing Tiandi-Marco Electro-Hydraulic Control Systems Co. ,Ltd. ,Beijing　 100013,China

针对综采工作面采煤高度测量问题,研究了1种利用液压支架角度传感器测量采煤高度的方法。以1种两柱式液压支架的典型模型进行倾角测高分析,考虑到支架底座应用场合多为斜坡面,推导了倾斜坡面角度对高度测量的影响公式。在分析影响高度测量精度因素的基础上,通过改变传感器安装位置的方式来提高倾角测量精度,以及采用卡尔曼滤波方法消除振动噪声提高倾角测量精度。利用倾角测高方法设计了由4个双轴倾角传感器组合的测高系统,经过水平地面和井下环境测高验证,在6 m高支架上高度测量精度为5~10 cm。与激光测高相比结果表明,倾角测高方法更能满足在煤矿开采中的粉尘环境下应用。

The coal mining height measurement problem has been addressed and a solution method has been proposed using hydraulic support angle sensor. The measurement height model was analyzed by using a two-leg type hydraulic support’s angle. Then,considering the base of slope angle,the influence of inclined slope angle formula was derived for height measurement. To analyze the factors influencing the precision of height measurement,the authors examined the procedure with the aim of improving the accuracy of angle measurement including changing the installation posi- tion,and using the Kalman filtering method to eliminate vibration noise. A height measurement system with four dual- axis tilt sensors was designed using angle measurement method. The height measuring sensor method was verified by performing ground tests in the laboratory and underground experiments. A height measurement accuracy of 5-10 cm in 6 m hydraulic support has been achieved. In comparison with the laser ranging,the test results have shown that the proposed method has a stronger environment adaptability in coal dust environment.

国家高技术研究发展计划(863)资助项目(2013AA06A410)；

Chen Dongfang,Li Shoubin. Measurement of coal mining height based on hydraulic support structural angle[J]. Journal of China Coal Soci- ety,2016,41(3):788-793.