CN104196553A - Hydraulic support remote control system based on EtherCAT - Google Patents
Hydraulic support remote control system based on EtherCAT Download PDFInfo
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- CN104196553A CN104196553A CN201410391303.0A CN201410391303A CN104196553A CN 104196553 A CN104196553 A CN 104196553A CN 201410391303 A CN201410391303 A CN 201410391303A CN 104196553 A CN104196553 A CN 104196553A
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Abstract
The invention discloses a hydraulic support remote control system based on EtherCAT. The hydraulic support remote control system based on EtherCAT comprises a physical layer, a dielectric layer and a system control layer. The physical layer comprises a coal cutter, hydraulic supports and a scraper conveyer, wherein the coal cutter, the hydraulic supports and the scraper conveyer are arranged on a working fully mechanized face. The hydraulic supports are provided with a plurality of hydraulic cylinders and sensors. The dielectric layer comprises a plurality of solenoid valve sets, data collectors and operating panels. Each solenoid valve set, each data collector and each operating panel correspond to one hydraulic support in the physical layer. The system control layer comprises two master controllers, a plurality of I/O controllers and an EtherCAT bus used for transmitting very long instruction control words of the hydraulic supports, and the two master controllers and the I/O controllers are connected through the EtherCAT bus. The hydraulic support remote control system based on EtherCAT ensures real-time performance of remote control, provides big data transmission, and is low in development difficulty and high in reliability.
Description
Technical field
The present invention relates to a kind of hydraulic support electrohydraulic control system, be specifically related to a kind of hydraulic support tele-control system based on EtherCAT, belong to the automation control system field of mining equipment.
Background technology
Hydraulic support, is one of important support apparatus of pit mining, and hydraulic support electrohydraulic control system is very important automation control system on down-hole combined mining working especially.In combining the research and development of adopting intelligent equipment, because the data volume of communication is larger, communication distance is far away, for the Long-distance Control of hydraulic support, all cannot keep good real-time all the time, and, traditional hydraulic bracket control system, adopt the communication mode of CAN bus in the majority, so just must make each support corresponding to a bracket controller, formed a complicated distributed communication system, strengthen the complexity of system development, also reduced the reliability of system simultaneously.
Meanwhile, utilize conventional method to carry out the Remote Control System of hydraulic support, can not get ensureing aspect real-time, general time delay, in ms level s level even, makes Long-distance Control extremely unreliable.
Summary of the invention
In order to overcome above-mentioned defect, the invention provides a kind of hydraulic support tele-control system based on EtherCAT, it not only can guarantee the real-time of Long-distance Control, and the transmission of large data can be provided; Make the development difficulty of hydraulic support tele-control system reduce, reliability is high simultaneously.
The present invention for the technical scheme that solves its technical problem and adopt is: a kind of hydraulic support tele-control system based on EtherCAT, comprise Physical layer, dielectric layer and system key-course, and connect successively between it, described Physical layer comprises the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, on described hydraulic support, be provided with upright post jack, balance jack and lift end jack, also be provided with pressure sensor, displacement transducer and attitude transducer, described dielectric layer comprises several interface managers, and interface manager is by electromagnetic valve group, data acquisition unit and guidance panel form, an and hydraulic support in the corresponding Physical layer of each interface manager, described system key-course comprises two master controllers, several I/O controllers and for transmitting the EtherCAT bus of hydraulic support VLIW control word, between described two master controllers and several I/O controllers, by EtherCAT bus, connects.
Further, described I/O controller comprises MCU, ESC chip, sensor input I/O, electromagnetic valve group output I/O, local data base, PHY device, network transformer and Ethernet interface; Described MCU is for the I/O mouth operation of I/O controller; Described ESC chip is for the processing of EtherCAT bus; Described sensor input I/O is for reading in real time the user input instruction of data acquisition unit and the control panel of described dielectric layer; The opening and closing movement of electromagnetic valve group in the instruction control medium layer that described electromagnetic valve group output I/O sends according to MCU.
Further, described coal-winning machine is provided with the RF transmitter for coal-winning machine is positioned with it, is provided with the infrared remote receiver corresponding with RF transmitter on described hydraulic support.
Further, the electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives the hydraulic cylinder of hydraulic support in Physical layer; Described data acquisition unit is for gathering the sensor values of each hydraulic support of Physical layer; Described control panel is for man-machine interaction, Gather and input person's input instruction.
Further, the master controller in described system key-course is to have arbitrarily the main frame of Ethernet interface, and is provided with network transformer between the main control chip of master controller and Ethernet interface.
Further, the number of I/O controller in described system key-course is identical with the number of hydraulic support, and corresponding setting one by one, mutual for dielectric layer; Described I/O controller carries out folding control according to the control instruction of EtherCAT bus to electromagnetic valve group, and then controls hydraulic support action.
A control method for hydraulic support tele-control system based on EtherCAT, is characterized in that: comprise the following steps:
(1), when system is dispatched from the factory, at master controller place, order configuration is carried out in the storage area of each I/O controller, and the I/O port address of each I/O controller is mapped to position corresponding in very long instruction word;
(2), when certain support is operated, I/O controller gathers operator's input instruction, then enters next step;
(3) I/O controller, by the control instruction collecting, is filled into the very long instruction word in EtherCAT bus, through cycle period of EtherCAT, described very long instruction word is sent to master controller;
(4) master controller carries out protocol analysis after receiving the VLIW in EtherCAT bus, then according to protocol contents, sends corresponding control command, and this control command is filled in the very long instruction word of EtherCAT bus;
(5) in a cycle period, described I/O controller reads out the very long instruction word of EtherCAT bus, obtains the address mapping relation in self address and very long instruction word, when mapping relations are mated, gets the instruction of corresponding address;
(6) I/O controller takes out after instruction, and instruction is carried out to protocol analysis, then in real time I/O mouth is operated.
Further, in step (2), after instruction acquisition completes, system is according to operator place support number, determine by operation support and when whether the distance between fore-stock is over safe distance, when surpassing safe distance, give the alarm, and first in this locality, carry out risky operation record, write error identification code in the very long instruction word of while in EtherCAT bus, master controller records current faulty operation; When operator is in safe distance, can carry out next step.
The invention has the beneficial effects as follows: by traditional distributed hydraulic support electrohydraulic control system, become a minute face formula I/O, centralized Control hydraulic support electrohydraulic control system, has reduced the complexity of control system, makes the electrohydraulic control system exploitation of hydraulic support easier; Improved the reliability of control system, whole system only has master controller to control, and I/O controller only carries out real-time action, and the design of Content of Communication is more simple and reliable, has greatly reduced the probability of garble; Meanwhile, can guarantee the real-time of Long-distance Control and the transmission that large data can be provided.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is the I/O controller architecture block diagram of hydraulic support tele-control system.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further elaborated.
As depicted in figs. 1 and 2, a kind of hydraulic support tele-control system based on EtherCAT, comprise Physical layer, dielectric layer and system key-course, and connect successively between it, described Physical layer comprises the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, on described hydraulic support, be provided with several hydraulic cylinders, and the major impetus of its action derives from above-mentioned each hydraulic cylinder, be specially: column hydraulic cylinder, balance hydraulic cylinder, lift base hydraulic cylinder, wall supporting hydraulic cylinder, side is protected hydraulic cylinder, extensible canopy hydraulic cylinder, tail boom hydraulic cylinder etc., on concrete hydraulic support, be mainly provided with upright post jack, balance jack and lift end jack etc., also be provided with sensor, such as pressure sensor, displacement transducer and attitude transducer, described dielectric layer comprises several interface managers, described interface manager is by electromagnetic valve group, data acquisition unit and guidance panel form, an and hydraulic support in the corresponding Physical layer of each interface manager, described system key-course comprises two master controllers master controller 1 and master controller 2 as shown in Figure 1, master controller 1 is the bus-structured controlling center of EtherCAT, master controller 1 forms looped network with master controller 2, can, by all transfer of data of hydraulic support electricity hydraulic control system to other networks, several I/O controllers and for transmitting the EtherCAT bus of hydraulic support VLIW control word, between described two master controllers and several I/O controllers, by EtherCAT bus, connect.
Described I/O controller comprises MCU, ESC chip, sensor input I/O, electromagnetic valve group output I/O, local data base, PHY device, network transformer and Ethernet interface; Described MCU is for the I/O mouth operation of I/O controller; Described ESC chip is for the processing of EtherCAT bus; Described sensor input I/O is for reading in real time the user input instruction of data acquisition unit and the control panel of described dielectric layer; The opening and closing movement of electromagnetic valve group in the instruction control medium layer that described electromagnetic valve group output I/O sends according to MCU.
Described coal-winning machine is provided with the RF transmitter for coal-winning machine is positioned with it, is provided with the infrared remote receiver corresponding with RF transmitter on described hydraulic support.
Electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives the hydraulic cylinder of hydraulic support in Physical layer; Described data acquisition unit is for gathering the sensor values of each hydraulic support of Physical layer; Described control panel is for man-machine interaction, Gather and input person's input instruction.
Master controller in described system key-course is to have arbitrarily the main frame of Ethernet interface, and is provided with network transformer between the main control chip of master controller and Ethernet interface.
The number of I/O controller in described system key-course is identical with the number of hydraulic support, and corresponding setting one by one, mutual for dielectric layer; Described I/O controller carries out folding control according to the control instruction of EtherCAT bus to electromagnetic valve group, and then controls hydraulic support action.
The connected mode that above-mentioned control system is concrete is: at the two ends of fully-mechanized mining working, be respectively provided with a master controller, be respectively master controller 1 and master controller 2, an I/O controller is installed on each hydraulic support, between each I/O controller, adopt charged cable to connect, in cable, wherein two cores are power line ground wire together, other are the holding wire of ethernet line, between master controller and I/O controller, adopt described charged cable to be connected, between two master controllers, also adopt described charged cable to connect, form looped network.
A control method for hydraulic support tele-control system based on EtherCAT, comprises the following steps:
(1), when system is dispatched from the factory, at master controller place, order configuration is carried out in the storage area of each I/O controller, and the I/O port address of each I/O controller is mapped to position corresponding in very long instruction word;
(2), when certain support is operated, I/O controller gathers operator's input instruction, then enters next step;
(3) I/O controller, by the control instruction collecting, is filled into the very long instruction word in EtherCAT bus, through cycle period of EtherCAT, described very long instruction word is sent to master controller;
(4) master controller carries out protocol analysis after receiving the VLIW in EtherCAT bus, then according to protocol contents, sends corresponding control command, and this control command is filled in the very long instruction word of EtherCAT bus;
(5) in a cycle period, described I/O controller reads out the very long instruction word of EtherCAT bus, obtains the address mapping relation in self address and very long instruction word, when mapping relations are mated, gets the instruction of corresponding address;
(6) I/O controller takes out after instruction, and instruction is carried out to protocol analysis, then in real time I/O mouth is operated.
In step (2), after instruction acquisition completes, system is according to operator place support number, determine by operation support and when whether the distance between fore-stock is over safe distance, when surpassing safe distance, give the alarm, and first in this locality, carry out risky operation record, and write error identification code in the very long instruction word of while in EtherCAT bus, master controller records current faulty operation; When operator is in safe distance, can carry out next step.
Claims (6)
1. the hydraulic support tele-control system based on EtherCAT, comprise Physical layer, dielectric layer and system key-course, and connect successively between it, described Physical layer comprises the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, on described hydraulic support, be provided with upright post jack, balance jack and lift end jack, also be provided with pressure sensor, displacement transducer and attitude transducer, it is characterized in that: described dielectric layer comprises several interface managers, described interface manager is by electromagnetic valve group, data acquisition unit and guidance panel form, an and hydraulic support in the corresponding Physical layer of each interface manager, described system key-course comprises two master controllers, several I/O controllers and for transmitting the EtherCAT bus of hydraulic support VLIW control word, between described two master controllers and several I/O controllers, by EtherCAT bus, connects.
2. the hydraulic support tele-control system based on EtherCAT according to claim 1, is characterized in that: described I/O controller comprises MCU, ESC chip, sensor input I/O, electromagnetic valve group output I/O, local data base, PHY device, network transformer and Ethernet interface; Described MCU is for the I/O mouth operation of I/O controller; Described ESC chip is for the processing of EtherCAT bus; Described sensor input I/O is for reading in real time the user input instruction of data acquisition unit and the control panel of described dielectric layer; The opening and closing movement of electromagnetic valve group in the instruction control medium layer that described electromagnetic valve group output I/O sends according to MCU.
3. the hydraulic support tele-control system based on EtherCAT according to claim 1 and 2, it is characterized in that: described coal-winning machine is provided with the RF transmitter for coal-winning machine is positioned with it, on described hydraulic support, be provided with the infrared remote receiver corresponding with RF transmitter.
4. the hydraulic support tele-control system based on EtherCAT according to claim 3, is characterized in that: the electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives the hydraulic cylinder of hydraulic support in Physical layer; Described data acquisition unit is for gathering the sensor values of each hydraulic support of Physical layer; Described control panel is for man-machine interaction, Gather and input person's input instruction.
5. the hydraulic support tele-control system based on EtherCAT according to claim 4, it is characterized in that: the master controller in described system key-course is to have arbitrarily the main frame of Ethernet interface, and is provided with network transformer between the main control chip of master controller and Ethernet interface.
6. the hydraulic support tele-control system based on EtherCAT according to claim 5, is characterized in that: the number of I/O controller in described system key-course is identical with the number of hydraulic support, and corresponding setting one by one, mutual for dielectric layer; Described I/O controller carries out folding control according to the control instruction of EtherCAT bus to electromagnetic valve group, and then controls hydraulic support action.
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| CN201410391303.0A CN104196553B (en) | 2014-08-08 | 2014-08-08 | A kind of hydraulic support tele-control system based on EtherCAT |
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| CN201410391303.0A CN104196553B (en) | 2014-08-08 | 2014-08-08 | A kind of hydraulic support tele-control system based on EtherCAT |
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Cited By (9)
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| CN104183185A (en) * | 2014-08-13 | 2014-12-03 | 曹久涛 | Simulation control system and method for hydraulic prop used for computer teaching |
| CN104481567A (en) * | 2014-12-26 | 2015-04-01 | 中国矿业大学 | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method |
| CN104891133A (en) * | 2015-04-30 | 2015-09-09 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
| CN105000328A (en) * | 2015-07-01 | 2015-10-28 | 中国矿业大学 | Automatic straightening device and method for scraper conveyor body of fully mechanized mining face |
| CN105591855A (en) * | 2016-02-01 | 2016-05-18 | 哈尔滨工业大学 | Force sensor data collection system and method based on EtherCAT |
| CN105927259A (en) * | 2016-07-02 | 2016-09-07 | 山东科技大学 | Two-column type hydraulic support pose detection and control system and application thereof |
| CN106014466A (en) * | 2016-07-02 | 2016-10-12 | 山东科技大学 | Method for detecting and controlling position and attitude of two-column type hydraulic support |
| CN108490897A (en) * | 2018-03-14 | 2018-09-04 | 北京天地玛珂电液控制系统有限公司 | A kind of automatic control system of fully-mechanized mining working |
| CN109343412A (en) * | 2018-11-05 | 2019-02-15 | 郑州煤机液压电控有限公司 | Hydraulic support electronic control system signal coupler |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104183185A (en) * | 2014-08-13 | 2014-12-03 | 曹久涛 | Simulation control system and method for hydraulic prop used for computer teaching |
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| CN104481567A (en) * | 2014-12-26 | 2015-04-01 | 中国矿业大学 | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method |
| CN104891133A (en) * | 2015-04-30 | 2015-09-09 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
| CN104891133B (en) * | 2015-04-30 | 2017-02-22 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
| CN105000328B (en) * | 2015-07-01 | 2017-03-08 | 中国矿业大学 | Fully-mechanized mining working surface conveyer fuselage automatic alignment device and method |
| CN105000328A (en) * | 2015-07-01 | 2015-10-28 | 中国矿业大学 | Automatic straightening device and method for scraper conveyor body of fully mechanized mining face |
| CN105591855A (en) * | 2016-02-01 | 2016-05-18 | 哈尔滨工业大学 | Force sensor data collection system and method based on EtherCAT |
| CN106014466A (en) * | 2016-07-02 | 2016-10-12 | 山东科技大学 | Method for detecting and controlling position and attitude of two-column type hydraulic support |
| CN105927259A (en) * | 2016-07-02 | 2016-09-07 | 山东科技大学 | Two-column type hydraulic support pose detection and control system and application thereof |
| CN105927259B (en) * | 2016-07-02 | 2018-03-23 | 山东科技大学 | A kind of two column type hydraulic support pose measurement and control systems and its application |
| CN106014466B (en) * | 2016-07-02 | 2018-03-23 | 山东科技大学 | A kind of method for being used for two column type hydraulic support pose Detection ＆ Controling |
| CN108490897A (en) * | 2018-03-14 | 2018-09-04 | 北京天地玛珂电液控制系统有限公司 | A kind of automatic control system of fully-mechanized mining working |
| CN109343412A (en) * | 2018-11-05 | 2019-02-15 | 郑州煤机液压电控有限公司 | Hydraulic support electronic control system signal coupler |
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