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。

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 in X, Y and Z directions 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.