提升容器横向偏移惯性测量法的误差分析与校正

针对超深矿井提升装备需要增加提升容器横向偏移测量的问题,根据其小量程、高精度、抗干扰的测量要求,提出一种基于MEMS传感器的惯性测量方法.采用惯性测距原理进行横向偏移测量,分析了倾斜角、随机误差和速度残值三种主要误差源,提出了对应的动态均值、阈值设置和速度残值校正与补偿三种校正方法,结合提升容器的运行特点消除累积误差,并在液压移动平台上进行实验.结果表明:误差校正方法可有效抑制误差,横移测量精度在5 mm以内,惯性测量方法是一种超深矿井提升容器横向偏移测量的有效方法.

Error analysis and correction of inertial measurement method for hoisting container lateral shift

Now ultra-deep mine hoisting equipment need to increase lateral shift measurement. According to the measuring requirements of small range,high precision and anti-jamming,inertial measurement method was pro-posed based on MEMS. The principle of inertial ranging was used in the method. Three main error sources were ana-lysed including inclination angle,random error and speed salvage value. Three corresponding error correction meth-ods of dynamic mean value,threshold setting and speed salvage correction&compensation were proposed. Cumula-tive error was eliminated according to the operation characteristics of hoisting container. Lateral shift measurement experiment was done in the hydraulic mobile platform. The experimental results show that lateral shift measurement error is restrained by those error correction methods effectively,and the measurement precision can be up to 5 mm. The inertial measurement method is efficient to measure lateral shift for ultra-deep mine hoisting container.