Vibration reduction method and device of shearer inertial measurement unit

Inertial sensor has become a hot spot in the research and application of shearer attitude measurement and underground autonomous navigation due to its distinct advantages. The inertial sensor is disturbed by the strong vibration of the shearer in practical application, and has the problems of poor measurement stability and low accuracy. A metal spring-adjustable friction damping three-way vibration damping device is developed to solve the above problems. Firstly, the types of inertial sensors and the attitude measurement method of shearers based on inertial sensors are introduced. The data of vibration acceleration of MG500/1180WD drum shearer when cutting coal seam are analyzed, the main vibration frequency in X, Y and Z directions is 0-30 Hz, and the three-direction vibration acceleration ranges are 1-2 m·s^–2, 0.15-0.2 m·s^–2 and 2-4 m·s^–2, respectively. Secondly, based on the vibration characteristics of the shearer, the mechanical model of the metal spring-adjustable friction damping one-way vibration damper is proposed, and the model transmissibility equation is established. Combined with the linear guide mechanism, a metal spring-adjustable friction damping three-way vibration damping device is designed. SolidWorks Motion is used to establish the simulation model of the vibration reduction device, and the main parameters of the vibration reduction device are determined by the simulation analysis. Finally, the vibration transmittance simulation analysis and experimental test of the vibration isolation device are carried out, and the effect of vibration reduction is verified by using the inertial sensor. The simulation analysis shows that under the vibration conditions that conform to the vibration frequency range and vibration acceleration range of the shearer, the adjustable friction damping of the vibration damper is 0.25-0.5 times of the maximum reference value of the friction damping, and the lower resonance amplification times and the lower vibration transmission rate can be obtained. The experimental results show that the resonance amplification of the vibration damping device in three directions is less than 4 times. Under the excitation of 10-30Hz frequency range, the average vibration transmission rate remains below 45%. Adding vibration damping device can effectively reduce the fluctuation of the measured data of the inertial measuring unit. The average drop rate of attitude angle standard deviation of the three-direction sensors is 78.36%, 36.96% and 66.51% respectively, which has obvious vibration damping effect.