| Citation: |
LI Man，SHEN Siyi，LIU Junqi，et al. Research and design of sensor system for all position and attitude measurement of shearer[J]. Coal Science and Technology，2025，53（S1）：378−388. DOI: 10.12438/cst.2024-0231
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The existing shearer body position, attitude, drum height and other measurements, there are insufficient methods and means, measurement device integration, integration, low degree of intelligence, poor information processing ability, high price. Firstly, based on the actual operation of shearer, the changing rules and influencing factors of fuselage attitude, position and drum height are analyzed, and the fuselage position solving model and drum height solving model considering fuselage attitude Angle are established. Secondly, aiming at multi-parameter measurement, a master-slave structure system is proposed, which consists of the attitude sensor, mileage sensor and left and right swing Angle sensor based on MEMS sensor chip with microprocessor as the core. Thirdly, the measurement method of each parameter is determined, and the hardware architecture and circuit of the three types of sensors are designed. The sensor uses DSP-F28335 as the main control chip, the fuselage attitude main sensor uses the MPU6050 inertial navigation chip as the measuring element, and the swing Angle and mileage of the rocker arm are measured by the TLE5012B Angle chip. Develop the program of sensor operation control, data acquisition and solution, communication and so on. Finally, the error of the prototype sensor system is measured through experiments, and the results show that: The average absolute errors of rotation Angle, roll Angle, pitch Angle, heading Angle, drum height, X-axis position and Y-axis position of the body are 0.06°, 0.02°, 0.03°, 0.15°, 1.45 mm, 2.64 mm and 3.43 mm, respectively. The average relative errors are 0.23%, 0.16% and 0.25%, respectively. 1.54%, 0.49%, 0.53%, 2.45%.
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