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A Cascaded Pushing Displacement Estimation Approach for Hydraulic Powered Roof Support based on Multi-Segmental Kalman Filter


Affiliations
1 School of Mechanical and Electrical Engineering, Yangtze Normal University, Chongqing, 408100, China
2 School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
3 College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213022, China
 

To tackle the problem of non-reusability of the magnetostrictive displacement sensor which is embedded in a pushing hydraulic cylinder, and improve the accuracy of pushing displacement sensing for hydraulic powered roof support, the compact self-contained inertial sensor is utilized in pushing displacement measurement. The motion characteristics of pushing operation are re-considered, and multi-segmental Kalman filter (MS-KF) is proposed based on the motion characteristics. A cascaded framework is constructed for pushing displacement estimation, and key technologies such as orientation estimation, segmental recognition and MS-KF implementation are demonstrated. The experiment is elaborated and experimental results show that the proposed approach significantly reduces the cumulative error and proves to be practical and valuable.

Keywords

Inertial Sensor, Hydraulic Support, Pushing Displacement, Kalman Filter.
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  • A Cascaded Pushing Displacement Estimation Approach for Hydraulic Powered Roof Support based on Multi-Segmental Kalman Filter

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Authors

Lin Zhang
School of Mechanical and Electrical Engineering, Yangtze Normal University, Chongqing, 408100, China
Shang Feng
School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
Minzhou Luo
College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213022, China
Aimin Ji
College of Mechanical & Electrical Engineering, Hohai University, Changzhou 213022, China

Abstract


To tackle the problem of non-reusability of the magnetostrictive displacement sensor which is embedded in a pushing hydraulic cylinder, and improve the accuracy of pushing displacement sensing for hydraulic powered roof support, the compact self-contained inertial sensor is utilized in pushing displacement measurement. The motion characteristics of pushing operation are re-considered, and multi-segmental Kalman filter (MS-KF) is proposed based on the motion characteristics. A cascaded framework is constructed for pushing displacement estimation, and key technologies such as orientation estimation, segmental recognition and MS-KF implementation are demonstrated. The experiment is elaborated and experimental results show that the proposed approach significantly reduces the cumulative error and proves to be practical and valuable.

Keywords


Inertial Sensor, Hydraulic Support, Pushing Displacement, Kalman Filter.

References





DOI: https://doi.org/10.18520/cs%2Fv117%2Fi10%2F1585-1597