Magnetic Levitation Belt Conveyor Control System Based on Multi-Sensor Fusion
Kun Hu, Haolin Jiang, Qinqin Zhu, Wangqian Qian, Jinhan Yang
Abstract
Belt conveyors are critical in coal transportation systems; however, they are supported by rollers, which incur high energy costs. Magnetic levitation support is adopted. The measurement of a magnetic levitation air gap is important, and a displacement sensor is usually used in real-time. To address the problems of poor linearity and low measurement stability of single displacement sensors in magnetic levitation systems, a magnetic levitation support system based on multi-sensor data fusion is proposed. First, an industrial camera sensor is used to collect images, and the suspended air gap is obtained through image processing. Second, using an extended Kalman filter, the photoelectric position sensor and industrial camera sensor are fused to the suspension air gap value in the process of suspension. The electromagnet current is controlled by the PID (proportion integration differentiation) control algorithm, and experiments are carried out. Experimental results showed that, compared with an estimation of the suspension state of two sensors before and after EKF fusion, the root mean square error is reduced by 0.0597 and 0.0081, respectively, compared with the measurement value of a single sensor. Moreover, the fusion data were more robust, thereby meeting the requirements of magnetic levitation control.