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智能工作面液压支架电液控制系统端头控制器设计

张晓海 田慕琴 张敏龙 宋建成 许春雨 聂鸿霖 杨永锴

张晓海,田慕琴,张敏龙,等. 智能工作面液压支架电液控制系统端头控制器设计[J]. 工矿自动化,2023,49(8):30-36.  doi: 10.13272/j.issn.1671-251x.2023060031
引用本文: 张晓海,田慕琴,张敏龙,等. 智能工作面液压支架电液控制系统端头控制器设计[J]. 工矿自动化,2023,49(8):30-36.  doi: 10.13272/j.issn.1671-251x.2023060031
ZHANG Xiaohai, TIAN Muqin, ZHANG Minlong, et al. Design of end controller for the electrohydraulic control system of intelligent working face hydraulic support[J]. Journal of Mine Automation,2023,49(8):30-36.  doi: 10.13272/j.issn.1671-251x.2023060031
Citation: ZHANG Xiaohai, TIAN Muqin, ZHANG Minlong, et al. Design of end controller for the electrohydraulic control system of intelligent working face hydraulic support[J]. Journal of Mine Automation,2023,49(8):30-36.  doi: 10.13272/j.issn.1671-251x.2023060031

智能工作面液压支架电液控制系统端头控制器设计

doi: 10.13272/j.issn.1671-251x.2023060031
基金项目: 山西省1331工程“提质增效建设计划”项目(晋教科〔2021〕4号)。
详细信息
    作者简介:

    张晓海(1997—),男,山西大同人,硕士研究生,研究方向为矿用智能电器,E-mail:3116115716@qq.com

  • 中图分类号: TD355

Design of end controller for the electrohydraulic control system of intelligent working face hydraulic support

  • 摘要: 随着无人值守智能化综采工作面建设的不断推进,对液压支架电液控制系统的自动化控制功能提出了更高的技术要求。基于目前国内开发的电液控制技术在满足智能化生产技术要求方面,存在通信速率低、响应不及时和可靠性差等问题,开发了一种基于32位处理器的液压支架电液控制系统端头控制器,设计了基于工业以太网和CAN总线的端头控制器通信架构。根据无人值守智能化综采工作面具有智能感知、智能决策和自动控制的技术要求,在端头控制器中设计了参数巡检、参数修改、在线升级和跟机自动控制功能。为了应对智能化综采工作面对液压支架电液控制系统数据标准化、规范化的要求,端头控制器可以对液压支架电液控制系统产生的数据按照基于位号的数据编码标准进行编码。通过综采工作面“三机”实验平台进行实验,结果表明:端头控制器从发出巡检指令到接收到实验平台27台支架控制器的数据,整个过程用时1.8 s,比使用RS485通信实现参数巡检快1.5 s;端头控制器发送的升级程序大小为38 KiB,传输时间为1.2 s。经过测试,综采工作面所有支架控制器从接收升级命令到一起升级成功用时为4~6 s,达到了预期目标;端头控制器可以根据采煤机位置控制相应液压支架做出正确动作,且能够满足实时性要求。

     

  • 图  1  电液控制系统总体结构

    Figure  1.  Overall structure of the electrohydraulic control system

    图  2  端头控制器硬件结构

    Figure  2.  End controller hardware structure

    图  3  端头控制器参数巡检方案

    Figure  3.  Parameter inspection scheme of end controller

    图  4  基于位号的数据编码标准

    Figure  4.  Data encoding standard based on tag numbers

    图  5  参数修改流程

    Figure  5.  Parameter modification process

    图  6  在线升级流程

    Figure  6.  Online upgrade process

    图  7  跟机自动控制功能设计方案

    Figure  7.  Design scheme of control function of automatic follow-up

    图  8  采煤机正向正常割煤

    Figure  8.  Normal forward cutting of coal by the shearer

    图  9  采煤机空刀返回

    Figure  9.  Return of empty shearer blade

    图  10  采煤机斜切入刀

    Figure  10.  Shearer oblique cutting feed

    图  11  巡检功能测试

    Figure  11.  Inspection function test

    图  12  修改前的邻架操作参数

    Figure  12.  Adjacent support operation parameters before modification

    图  13  修改后的邻架操作参数

    Figure  13.  Adjacent support operation parameters after modification

    图  14  CAN分析仪接收到的升级内容

    Figure  14.  The upgrade content received by the CAN analyzer

    图  15  跟机自动控制功能测试

    Figure  15.  Control function test for moving automatically with the shearer of hydraulic support

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出版历程
  • 收稿日期:  2023-06-09
  • 修回日期:  2023-07-25
  • 网络出版日期:  2023-09-04

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