CN105676760A - Unmanned electric locomotive multi-mode control structure and switching method - Google Patents
Unmanned electric locomotive multi-mode control structure and switching method Download PDFInfo
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- CN105676760A CN105676760A CN201610026624.XA CN201610026624A CN105676760A CN 105676760 A CN105676760 A CN 105676760A CN 201610026624 A CN201610026624 A CN 201610026624A CN 105676760 A CN105676760 A CN 105676760A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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Abstract
The invention discloses a multi-mode control structure suitable for an unmanned electric locomotive and switching method. A control system of the unmanned electric locomotive includes an autonomous mode, a semi-autonomous mode, an automatic mode and a manual mode. The autonomous mode is a normal operation mode, the control system realizes a task level closed loop, operating personnel only need to send discrete task commands, and a whole process of ore drawing, transportation and ore discharging and control of track equipment automatically completed; the semi-autonomous mode partially realizes task closed loop, and electric locomotive operation and the track equipment realize automatic running through an interlocking controller and respective internal loop controllers; the ore drawing process is realized through remote control of the operating personnel; and the automatic mode and the manual mode respectively refer to emergency standby control modes when faults of different degrees occur in an electric locomotive system. The operating personnel can perform control mode selection and switching according to factors of task requirements, working condition environment, system state and the like.
Description
Technical field
The invention belongs to the unmanned rail travel technical field in mine, specifically a kind of unmanned electric locomotive multi-mode control structure and changing method.
Background technology
Rail electric locomotive is Ore Transportation instrument conventional at present. Traditional electric locomotive method of operation is to be driven locomotive operation by human pilot is on-the-spot in mine laneway, there is work under bad environment, dangerous big, locomotive operation is affected bigger by anthropic factors such as human pilot self-technique, responsibility, degree of fatigues. Along with the development of the new technique such as automatization, radio communication, the unmanned rail travel in mine laneway starts to be paid close attention to.
Unmanned electric haulage be a comprehensive mining, machinery, electrically, communication, computer, many technical fields such as automatization system engineering. Realizing the unmanned of Ore Transportation in mine, general requirement closes underworkings, and operator have only to realize remotely controlling and Stateful Inspection of electric locomotive in ground monitoring room. Adopt the mode of network or bus, it is achieved the data communication that Control Room is on-the-spot with haulage drift, set up data link, it is achieved control instruction and uploading of status information are assigned. Computer interlock system realizes the letter collection of locomotive operation and closes, including route obturation, goat, semaphore control etc. Vehicle Controller realizes the bottom control such as the state acquisition of electric locomotive, speed loop control.
The running of electric locomotive can be largely classified into dress ore deposit, transports, unloads ore deposit three phases, and wherein dress ore deposit process refers to that electric locomotive runs to drawhole place, starts ore drawing bobbing machine, and Ore is fallen into the process in electric locomotive compartment by drop shaft. Unloading ore deposit to refer to that electric locomotive runs to and unload ore deposit point, Ore automatically falls into bottom motor car and unloads ore deposit drop shaft. The transportation of electric locomotive is belonged between the point of dress Dian Hexie ore deposit, ore deposit. The unmanned of electric haulage system can be the on-the-spot Unmanned operation of all or part of process realization in above three process. In addition the equipment state of electric haulage system is also most important to unmanned realization, and when individual links or equipment break down, control system must make corresponding process, is switched to the control model of correspondence.
Therefore according to the mission requirements of unmanned electric locomotive and running status, make unmanned electric locomotive run on different control models, be the current demand of unmanned electric locomotive Control System Design.Multi-mode controls to refer to that unmanned motor vehicle control adopts different control modes and corresponding control structure to meet different mission requirementses or the needs of electric locomotive running status. Design realize that multi-mode controls it is critical that how to determine and divide the control model of control system, and how to realize management and the switching of various control pattern.
Summary of the invention
The purpose of the present invention is to propose to a kind of unmanned electric locomotive multi-mode control structure and changing method thereof. For mission requirements and the self-operating state of unmanned electric locomotive, it is different control models by electric locomotive set-up of control system, and switching condition between different mode and method.
The present invention propose electric locomotive control model be divided into can mutually switch autonomous mode, half autonomous mode, automatic mode, manual mode four kinds.
Electric locomotive under autonomous mode carries out entirely autonomous operation according to the mission requirements that locomotive dispatching system is given, and overall process does not need the intervention of operator, including automatic ore drawing, the full process automatization realization automatically unloading ore deposit, automatic transportation.
Half autonomous mode refer to electric locomotive in transport, unload the ore deposit stage and be in autonomous operation state, it is not necessary to operator get involved; In ore drawing process, Control Room personnel carry out Remote and operate realization.
Automatic mode is a kind of Remote pattern, and manipulation personnel by remote control unit in ground monitoring room, Remote locomotive ore drawing, transport, unload ore deposit, control the electric locomotive speed of service and direction. Under this kind of pattern, interlock system is in running order, and the equipment such as route obturation, goat, semaphore is automatically controlled by interlock system.
Manual mode is a kind of standby emergency flight control pattern. In a manual mode, the closed loop of electric locomotive control realization speed loop, human pilot handles electric locomotive at Remote so that locomotive is advanced according to the speed set and direction. Under this kind of pattern, interlock system does not work, and needs the equipment such as artificial Remote semaphore, point machine.
The management of multi-mode control and changing method.
Mission requirements and running status according to unmanned electric locomotive are controlled pattern switching. Pattern switching can arrange instruction according to manipulation personnel and realize. Autonomous mode is normal operation mode, when electric locomotive runs system malfunctions, sends fault cues, manipulation personnel carries out or automatically carry out pattern switching. Difference according to fault, makes different counter-measures, such as stops in emergency, operate with failure, and changes operational mode etc.
Accompanying drawing illustrates:
Fig. 1: autonomous mode Control system architecture schematic diagram
Fig. 2: half autonomous mode Control system architecture schematic diagram
Fig. 3: automatic mode Control system architecture schematic diagram
Fig. 4: manual mode Control system architecture schematic diagram
Detailed description of the invention:
Below in conjunction with accompanying drawing, the unmanned electric locomotive multi-mode control structure of the present invention is further described with changing method.
1, unmanned electric locomotive control model design
1) autonomous mode
Autonomous mode realizes the control closed loop of task level, and monitoring personnel only need to send discrete assignment instructions, and electric locomotive is then automatically performed ore drawing, transports, unloads the full running in ore deposit, and the interlocked control of the equipment such as point machine, signal lights, ore drawing bobbing machine. As shown in Figure 1, interlocking controller receives the feedback information of assignment instructions and ore drawing equipment, electric locomotive, track equipment, according to mission requirements and system mode, send command signal to Oredrawing control device, coke oven controller, track device controller respectively, constitute the external loop that electric locomotive controls.Here assignment instructions includes selecting draw-point, selecting to unload the discrete commands such as ore deposit point, locomotive in service quantity. Oredrawing control device realizes the field control of ore drawing equipment, is primarily referred to as ore drawing bobbing machine and outlet damper, accepts the feedback information of ore drawing equipment simultaneously. Coke oven controller accepts the command request of interlocking controller, detects the feedback signals such as the electric locomotive speed of service, running voltage, electric current simultaneously, is calculated by control law, exports controlled quentity controlled variable to electric locomotive driver, it is achieved electric locomotive speed controlling. Track device controller realizes the control of the equipment such as electric point machine, semaphore, side barrier at grade crossing, receives the status signal of these equipment feedback simultaneously. Oredrawing control device, coke oven controller and guide rail equipment controller each realize the control closed loop of self, constitute the inner looping of control system.
Preferably, chain controller is realized by two-node cluster hot backup industrial computer, and Oredrawing control device, coke oven controller and track device controller are realized by PLC.
2) half autonomous mode:
When half autonomous mode, part achieves task closed loop, Oredrawing control inner looping is not among interlocked control external loop, but the telecommand according to operator individually realizes, ore drawing process is remotely controlled operation by operator under monitoring remote video, telecommand delivers to ore drawing scene by data channel, drives the work of ore drawing bobbing machine and electric locomotive to move, it is achieved electric locomotive dress mine order. Coke oven controller accepts interlocking controller output and telecommand combined effect, and the electric locomotive of all the other working stages runs, unloads ore deposit and track equipment by interlocking controller and the realization of respective inner looping controller, it is not necessary to personnel's auxiliary operation.
3) automatic mode:
Under automatic mode, manipulation personnel by video monitoring and system running state at Control Room, realize the operation to electric locomotive, ore drawing by the mode of Remote and unload ore control. The interlocking controller status information according to assignment instructions, the run location of electric locomotive and speed and track equipment, carries out the interlocked control of track equipment.
4) manual mode:
Manual mode is a kind of emergent standby mode, under this pattern, the telecommand of operator directly gives the expectation input of Oredrawing control device, coke oven controller, track device controller, three inner looping controllers each realize the control closed loop of self, and namely locomotive running speed, direction, ore drawing equipment, track equipment are directly controlled by remote control unit by operator at Control Room. Interlocking controller is not involved in work. Here telecommand includes continuous print or the discrete controlled quentity controlled variables such as locomotive speed is given, direction is given, ore drawing bobbing machine shockproofness is given, drawhole baffle position is given.
2, control mode switch method:
Above-mentioned four kinds of control models cover the operating various demands for control of unmanned electric locomotive system substantially. In actual use, operator can need to carry out autonomous control model selection and switching with work condition environment, equipment state according to task.
1) autonomous mode is normal operation mode, and namely all devices is normal, and operating mode is good, and when unmanned electric locomotive operation control system is all normal, electric locomotive is in autonomous mode;
2) half autonomous mode is the control model that ore drawing operates when cannot be automatically obtained. During the situations such as such as bobbing machine vibrations are uneven, draw area positioning precision reduces, Ore water content is relatively big, the single volume of Ore is bigger, autonomous mode cannot ensure the accurate of ore drawing and safety, now need to be set to half autonomous mode by operator, carry out people's ore drawing process Remote in loop.Can arrange after fault restoration and be returned from holotype.
3) automatic mode is to use when operation task temporary changes, alignment system partial failure, and by operator at Control Room by manipulation device, according to video information, the Remote carrying out electric locomotive travels.
4) interlock system fault, then electric locomotive control model is set to the equipment such as manual mode, operator's remote control motor car, goat, semaphore, it is achieved electric locomotive returns to parking lot.
5), during communication system failure, it is impossible to realize the transmission of control signal, now electric locomotive carries out emergency stop.
Claims (1)
1. the multi-mode control structure towards the unmanned electric locomotive of mine and changing method, it is characterised in that:
According to the automaticity in electric locomotive running, the control system of unmanned electric locomotive is divided into autonomous mode, half autonomous mode, automatic mode, four kinds of control models of manual mode;
Autonomous mode, control system realizes task level closed loop, and monitoring personnel only need to send discrete assignment instructions, and electric locomotive is automatically performed ore drawing, transports, unloads the full running in ore deposit, and the interlocked control of the equipment such as point machine, signal lights, ore drawing bobbing machine;
Half autonomous mode, part realizes task closed loop, and electric locomotive runs and track equipment realizes automatic running by interlocking controller and respective inner looping controller; Ore drawing process is then that the telecommand Remote according to operator realizes;
Automatic mode, operator realize the operation to electric locomotive and Oredrawing control by the mode of remote control; The interlocking controller status information according to assignment instructions, the run location of electric locomotive and speed and track equipment, carries out the interlocked control of track equipment;
Manual mode is that operator directly give the expectation input of Oredrawing control device, coke oven controller, track device controller by telecommand, namely directly locomotive running speed, direction, ore drawing equipment, track equipment is controlled;
Operator, according to factors such as mission requirements, work condition environment, system modes, are controlled model selection and switching; Autonomous mode is normal operation mode, and half autonomous mode is the control model in automatic ore drawing condition not permission situation; Automatic mode and manual mode refer to backup control mode when fault in various degree occurs in electric locomotive system respectively.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106842901A (en) * | 2017-01-19 | 2017-06-13 | 重庆交通大学 | It is the method for train automated driving system formation speed control command |
| CN107632537A (en) * | 2017-09-12 | 2018-01-26 | 北京矿冶研究总院 | Control device of underground mining vehicle |
| CN107966988A (en) * | 2017-12-11 | 2018-04-27 | 中交第二航务工程局有限公司 | The control system of shield machine construction electric locomotive |
| CN108370227A (en) * | 2016-09-30 | 2018-08-03 | 株式会社安川电机 | The operation indicating means of motor drive control system and motor drive control device |
| CN110653832A (en) * | 2019-09-29 | 2020-01-07 | 河海大学常州校区 | Man-machine cooperation football robot decision-making subsystem and working method thereof |
| CN111243251A (en) * | 2020-01-09 | 2020-06-05 | 北京航天发射技术研究所 | Unmanned ship working mode remote switching method and switching process establishing method |
| CN111399586A (en) * | 2020-04-13 | 2020-07-10 | 丹东东方测控技术股份有限公司 | Operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN113805583A (en) * | 2021-08-26 | 2021-12-17 | 徐工集团工程机械股份有限公司 | Multi-control system and control method and system of control mode unmanned platform |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111243251A (en) * | 2020-01-09 | 2020-06-05 | 北京航天发射技术研究所 | Unmanned ship working mode remote switching method and switching process establishing method |
| CN111399586A (en) * | 2020-04-13 | 2020-07-10 | 丹东东方测控技术股份有限公司 | Operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN113805583A (en) * | 2021-08-26 | 2021-12-17 | 徐工集团工程机械股份有限公司 | Multi-control system and control method and system of control mode unmanned platform |
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