Vibration reduction method and device of shearer inertial measurement unit
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摘要:
惯性传感器以其鲜明的优点，已成为目前采煤机姿态测量及井下自主导航研究和应用的热点。针对惯性传感器在实际应用中因受采煤机强振动干扰，存在测量稳定性差和精度低等问题，研制了一种金属弹簧-可调摩擦阻尼三向减振装置。首先，介绍了惯性传感器种类和基于惯性传感器的采煤机姿态测量方法。分析MG500/1180WD滚筒式采煤机截割煤层时的振动加速度数据，得到其X、Y、Z三方向主振频率为0～30 Hz，三方向振动加速度范围分别为1～2、0.15～0.20、2～4 m/s2；其次，基于采煤机振动特性，提出了金属弹簧-可调摩擦阻尼单向减振器力学模型，建立了模型传递率方程。结合直线导轨机构设计了金属弹簧−可调摩擦阻尼三向减振装置。采用SolidWorks Motion建立了减振装置的仿真模型，通过仿真分析确定了减振装置的主要参数。最后，对减振装置进行了振动传递率仿真分析和试验测试，并使用惯性传感器验证其减振效果。仿真分析表明：在符合采煤机振动频率范围和振动加速度范围的振动条件下，设置减振装置可调摩擦阻尼为摩擦阻尼最大参考值的0.25～0.5倍，可得到较低的共振放大倍数和较低的振动传递率。试验结果表明：减振装置三方向的共振放大倍数低于4倍，10～30 Hz频率范围的激振下，平均振动传递率维持在45%以下。增加减振装置后可有效降低惯性传感器测量数据的波动量，三方向传感器姿态角标准差平均下降率分别为78.36%、36.96%、66.51%，具有明显的减振作用。
Abstract: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 inX,YandZdirections is 0-30 Hz, and the three-direction vibration acceleration ranges are 1-2 m/s2, 0.15-0.2 m/s2 and 2-4 m/s2, 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.
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Keywords:
- vibration /
- shearer /
- inertial sensor /
- shock absorber
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图 1 采煤机主要组成与姿态测量示意
Figure 1. Schematic diagram of main composition and attitude measurement of shearer
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图 2 单向减振器力学模型
$ f(t) $—外界输入位移信号；$ g(t) $—单向减振器输出位移信号；$ m $—簧载质量，kg；$ k $—弹簧弹性系数，N/m；${F_{\mathrm{c}}}$—可调摩擦阻尼器的摩擦阻尼，N
Figure 2. Mechanical model of unidirectional vibration damper
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图 3 可调摩擦阻尼器组成与原理
Figure 3. Composition and schematic diagram of adjustable friction damper
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图 4 三向减振装置结构模型
1—惯性传感器安装板；2—限位器；3—减振装置外壳；4—X向承载板；5—X向可调摩擦阻尼机构；6—X向导轨机构；7—X向减振弹簧机构；8—Y向导轨机构；9—Y向减振弹簧机构；10—Y向可调摩擦阻尼机构；11—Y向承载板；12—Z向导轨机构；13—Z向承载板；14—Z向可调摩擦阻尼机构；15—Z向减振弹簧机构
Figure 4. Structural model diagram of three-way vibration damping device
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图 9 减振装置与试验平台
1—DH5902数据采集分析系统；2—DH1301信号发生器；3—惯性传感器；4—减振装置；5—DH187加速度传感器；6—水平振动台；7—DH40020电磁激振器；8—垂直振动台
Figure 9. Damping device and experimental platform
表 1 MG500/1180WD采煤机三方向振动参数
Table 1 Three-direction vibration parameters of MG500/1180WD shearer
采煤机振动方向 振动加速度范围/(m·s–2) 主振频率/Hz 牵引方向(X向) 1.00～2.00 11.23 截深方向(Y向) 0.15～0.20 11.57 垂直方向(Z向) 2.00～4.00 10.64 
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表 2 三向减振装置主要参数
Table 2 Main parameters of three-way damping device
减振装
置方向簧载质量/
kg弹性系数/
(N·mm–1)固有频率/
Hz摩擦阻尼
最大参考值/NX向 0.372 0.100 2.610 0.372 Y向 0.475 0.200 3.270 0.095 Z向 0.843 0.400 3.470 1.686
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表 3 摩擦阻尼值设定
Table 3 Friction damping value setting
激振方向 摩擦阻尼Fc/N A组 B组 C组 X向 0.063 0.125 0.375 Y向 0.013 0.036 0.100 Z向 0.250 0.625 1.750
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表 4 共振放大倍数与平均传递率
Table 4 Resonance amplification and average transmittance
激振方向 共振放大倍数 10～30 Hz平均传递率/% A组 B组 C组 A组 B组 C组 X向 6.019 3.105 1.000 24.44 45.29 102.45 Y向 8.522 5.951 1.000 21.91 57.29 99.19 Z向 7.136 3.383 1.000 22.84 49.48 100.55
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表 5 摩擦阻尼值设定
Table 5 Friction damping value setting
激振方向 摩擦阻尼Fc/N A组 B组 C组 X向 0.000 0.104 0.310 Y向 0.000 0.045 0.082 Z向 0.000 0.756 1.258
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表 6 共振放大倍数与平均传递率
Table 6 Resonance amplification and average transmittance
激振方向 共振放大倍数 10～30 Hz平均传递率/% A组 B组 C组 A组 B组 C组 X向 5.066 3.790 1.577 14.33 27.94 46.97 Y向 3.965 3.312 1.674 37.85 43.99 58.39 Z向 3.283 2.237 1.200 24.40 39.50 71.64
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表 7 姿态角标准差与下降率
Table 7 Attitude angle standard deviation and descent rate
激振方向 姿态角 $ {S_{\mathrm{t}}} $/(°) $ {V_{\mathrm{i}}} $/(°) $ {A_{\mathrm{b}}} $/(°) $ {D_{\mathrm{e}}} $/% $ {D_{{\mathrm{ev}}}} $/% X向 α 0.007 0.325 0.024 94.55 78.36 β 0.010 0.028 0.015 70.95 γ 0.035 0.053 0.041 69.57 Y向 α 0.007 0.009 0.009 2.44 36.96 β 0.009 0.096 0.048 55.48 γ 0.041 0.050 0.045 52.95 Z向 α 0.008 0.010 0.008 65.74 66.51 β 0.010 0.014 0.012 40.69 γ 0.040 0.080 0.043 93.10
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