CN104196553B - A kind of hydraulic support tele-control system based on EtherCAT - Google Patents
A kind of hydraulic support tele-control system based on EtherCAT Download PDFInfo
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- CN104196553B CN104196553B CN201410391303.0A CN201410391303A CN104196553B CN 104196553 B CN104196553 B CN 104196553B CN 201410391303 A CN201410391303 A CN 201410391303A CN 104196553 B CN104196553 B CN 104196553B
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- hydraulic support
- ethercat
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Abstract
The invention discloses a kind of hydraulic support tele-control system based on EtherCAT, including physical layer, dielectric layer and system key-course, physical layer includes the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, several hydraulic cylinders it are provided with on hydraulic support, it is additionally provided with sensor, dielectric layer includes a hydraulic support in several electromagnetic valve groups, data acquisition unit and guidance panel, and each electromagnetic valve group, data acquisition unit and guidance panel correspondence physical layer；System key-course includes two master controllers, several I/O controllers and for transmitting the EtherCAT bus of hydraulic support VLIW control word, is connected by EtherCAT bus between two master controllers and several I/O controllers.Which ensure that the real-time of remotely control, it is provided that the transmission of big data；The development difficulty making hydraulic support tele-control system reduces, and reliability is high.
Description
Technical field
The present invention relates to a kind of hydraulic support electrohydraulic control system, be specifically related to a kind of liquid based on EtherCAT
Pressure support tele-control system, belongs to the automation control system field of mining equipment.
Background technology
Hydraulic support, is one of the important support apparatus of pit mining, hydraulic support electrohydraulic control system well especially
Automation control system particularly important on lower fully-mechanized mining working.In combining the research and development adopting intelligent equipment, due to
The data volume of communication is relatively big, and communication distance is remote, and the remotely control for hydraulic support the most all cannot keep
Preferably real-time, and, traditional hydraulic bracket control system, use the communication mode of CAN to occupy
Many, thus must make each support corresponding to a bracket controller, constitute one complicated distributed
Communication system, increases the complexity of system development, also reduces the reliability of system simultaneously.
Meanwhile, utilize traditional method to carry out the Remote Control System of hydraulic support, obtain not in terms of real-time
To ensureing, general time delay is in ms level even s level so that it is the most unreliable remotely to control.
Summary of the invention
In order to overcome drawbacks described above, the present invention provide a kind of hydraulic support based on EtherCAT remotely control be
System, it can not only ensure the real-time remotely controlled, and can provide the transmission of big data；Make simultaneously
The development difficulty of hydraulic support tele-control system reduces, and reliability is high.
The present invention is to solve that its technical problem be the technical scheme is that a kind of liquid based on EtherCAT
Pressure support tele-control system, including physical layer, dielectric layer and system key-course, and is sequentially connected with between it,
Described physical layer includes the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, described hydraulic support
On be provided with upright post jack, balance jack and lift end jack, be additionally provided with pressure transducer, displacement pass
Sensor and attitude transducer, described dielectric layer includes several interface managers, and interface manager is by electromagnetic valve
Group, data acquisition unit and guidance panel composition, and a hydraulic pressure in each interface manager correspondence physical layer
Support；Described system key-course includes two master controllers, several I/O controllers and for transmitting hydraulic pressure
The EtherCAT bus of support VLIW control word, said two master controller and several I/O controllers
Between connected by EtherCAT bus；Said two master controller is separately positioned on the two ends of fully-mechanized mining working；
Described I/O controller include 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 controls for I/O
The I/O mouth operation of device；Described ESC chip is for the process of EtherCAT bus；Described sensor input I/O
Data acquisition unit and the user input instruction of guidance panel for the described dielectric layer of reading in real time；Described electricity
Magnet valve group output I/O controls the opening and closing movement of electromagnetic valve group in dielectric layer according to the instruction that MCU sends.
Further, the RF transmitter for positioning coal-winning machine is installed with described coal-winning machine,
The infrared remote receiver corresponding with RF transmitter it is provided with 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 dynamic physical layer；Described data acquisition unit is used for gathering each hydraulic support in physical layer
Sensor values；Described guidance panel is used for man-machine interaction, the input instruction of Gather and input person.
Further, the master controller in described system key-course is the main frame with Ethernet interface, and master control
It is provided with network transformer between main control chip and the Ethernet interface of device processed.
Further, the number of the I/O controller in described system key-course and the hydraulic support in physical layer
Number is identical, and one_to_one corresponding is arranged, mutual for dielectric layer；Described I/O controller is according to EtherCAT
The control instruction of bus carries out folding control to electromagnetic valve group, and then controls hydraulic support action.
A kind of control method of hydraulic support tele-control system based on EtherCAT, it is characterised in that: bag
Include following steps:
(1) when system is dispatched from the factory, at master controller, the memory block of each I/O controller is carried out der group
State, and the I/O port address of each I/O controller is mapped in very long instruction word the position of correspondence；
(2) when operating certain support, the input of operator is instructed and is acquired, so by I/O controller
Rear entrance next step；
(3) control instruction that I/O controller will collect, is filled into the very long instruction word in EtherCAT bus,
Through mono-cycle period of EtherCAT, described very long instruction word is sent to master controller；
(4) protocol analysis, then root are carried out after master controller receives the VLIW in EtherCAT bus
Send corresponding control command according to protocol contents, and this control command is filled into the overlength of EtherCAT bus
In coding line；
(5) in a cycle period, described I/O controller reads out the VLIW of EtherCAT bus
Word, obtains Self address and the address mapping relation in very long instruction word, and when mapping relations are mated, then it is right to take
Answer the instruction of address；
(6), after I/O controller takes out instruction, instruction is carried out protocol analysis, then in real time I/O mouth is grasped
Make.
Further, in step (2), after instruction acquisition completes, system is according to operator place support
Number, determine by whether the distance between operation support and current brackets exceedes safe distance, when exceeding safe distance
Then send alarm, and first carry out risky operation record in this locality, simultaneously the overlength in EtherCAT bus
Write error identification code in coding line, master controller record current erroneous operates；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 facet
Formulas I/O, centralized Control hydraulic support electrohydraulic control system, reduce the complexity of control system so that hydraulic pressure
The electrohydraulic control system exploitation of support is easier to；Improve the reliability of control system, whole system only has master control
Device processed is controlled, and I/O controller only carries out real-time action, and the design of Content of Communication is the most simple and reliable, greatly
Decrease greatly the probability of communication mistake；Meanwhile, it is capable to ensure the real-time remotely controlled and big number can be provided
According to transmission.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram of the present invention；
Fig. 2 is the I/O controller architecture block diagram of hydraulic support tele-control system.
Detailed description of the invention
The present invention is further elaborated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of hydraulic support tele-control system based on EtherCAT, including thing
Reason layer, dielectric layer and system key-course, and be sequentially connected with between it, described physical layer includes on work fully mechanized coal face
Coal-winning machine, hydraulic support and drag conveyor, described hydraulic support is provided with several hydraulic cylinders, and its
The major impetus of action derives from each hydraulic cylinder above-mentioned, particularly as follows: column hydraulic cylinder, balance hydraulic cylinder, lifts
Base hydraulic cylinder, wall supporting hydraulic cylinder, side protects hydraulic cylinder, extensible canopy hydraulic cylinder, and tail boom hydraulic cylinder etc., specifically
Hydraulic support on be mainly provided with upright post jack, balance jack and lift end jack etc., be additionally provided with biography
Sensor, such as pressure transducer, displacement transducer and attitude transducer, described dielectric layer includes several interfaces
Manager, described interface manager is made up of electromagnetic valve group, data acquisition unit and guidance panel, and each connects
A hydraulic support in mouth manager correspondence physical layer；Described system key-course includes two master controllers such as figure
Master controller 1 shown in 1 and master controller 2, master controller 1 is EtherCAT bus-structured control main website,
Master controller 1 and master controller 2 constitute looped network, can electro-hydraulic for the hydraulic support all of data of Ore-controlling Role be transmitted extremely
Other networks, several I/O controllers and for transmitting the EtherCAT of hydraulic support VLIW control word
Bus, is connected by EtherCAT bus between said two master controller and several I/O controllers；Institute
State I/O controller and include MCU, ESC chip, sensor input I/O, the output of electromagnetic valve group I/O, this locality
Data base, PHY device, network transformer and Ethernet interface；Described MCU is for I/O controller
I/O mouth operates；Described ESC chip is for the process of EtherCAT bus；Described sensor input I/O uses
Data acquisition unit and the user input instruction of guidance panel in the described dielectric layer of reading in real time；Described electromagnetism
Valve group output I/O controls the opening and closing movement of electromagnetic valve group in dielectric layer according to the instruction that MCU sends.
Being provided with the RF transmitter for positioning coal-winning machine with described coal-winning machine, described hydraulic pressure props up
The infrared remote receiver corresponding with RF transmitter it is provided with on frame.
Electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives in physical layer
The hydraulic cylinder of hydraulic support；Described data acquisition unit is for gathering the sensor number of each hydraulic support in physical layer
Value；Described guidance panel is used for man-machine interaction, the input instruction of Gather and input person.
Master controller in described system key-course is the main frame with Ethernet interface, and the master control of master controller
Network transformer it is provided with between chip and Ethernet interface.
The number of the I/O controller in described system key-course is identical with the number of the hydraulic support in physical layer,
And one_to_one corresponding is arranged, mutual for dielectric layer；Described I/O controller is according to EtherCAT bus
Control instruction carries out folding control to electromagnetic valve group, and then controls hydraulic support action.
The connected mode that above-mentioned control system is concrete is: be each provided with a main control at the two ends of fully-mechanized mining working
Device, respectively master controller 1 and master controller 2, each hydraulic support is installed an I/O controller, often
Using charged cable to connect between individual I/O controller, in cable, wherein two cores are power line ground wire together,
Other are the holding wire of ethernet line, use described charged cable even between master controller and I/O controller
Connect, be also adopted by described charged cable between two master controllers and connect, constitute looped network.
The control method of a kind of hydraulic support tele-control system based on EtherCAT, comprises the following steps:
(1) when system is dispatched from the factory, at master controller, the memory block of each I/O controller is carried out der group
State, and the I/O port address of each I/O controller is mapped in very long instruction word the position of correspondence；
(2) when operating certain support, the input of operator is instructed and is acquired, so by I/O controller
Rear entrance next step；
(3) control instruction that I/O controller will collect, is filled into the very long instruction word in EtherCAT bus,
Through mono-cycle period of EtherCAT, described very long instruction word is sent to master controller；
(4) protocol analysis, then root are carried out after master controller receives the VLIW in EtherCAT bus
Send corresponding control command according to protocol contents, and this control command is filled into the overlength of EtherCAT bus
In coding line；
(5) in a cycle period, described I/O controller reads out the VLIW of EtherCAT bus
Word, obtains Self address and the address mapping relation in very long instruction word, and when mapping relations are mated, then it is right to take
Answer the instruction of address；
(6), after I/O controller takes out instruction, instruction is carried out protocol analysis, then in real time I/O mouth is grasped
Make.
In step (2), after instruction acquisition completes, system according to operator place support number, determine by
Whether the distance between operation support and current brackets exceedes safe distance, then sends police when exceeding safe distance
Report, and first carry out risky operation record in this locality, simultaneously in the very long instruction word in EtherCAT bus
Write error identification code, master controller record current erroneous operates；When operator is in safe distance, can carry out
Next step.
Claims (5)
1. a hydraulic support tele-control system based on EtherCAT, including physical layer, dielectric layer and system
Key-course, and be sequentially connected with between it, described physical layer includes the coal-winning machine on work fully mechanized coal face, hydraulic support
And drag conveyor, described hydraulic support is provided with upright post jack, balance jack and lifts end jack,
It is additionally provided with pressure transducer, displacement transducer and attitude transducer, it is characterised in that: described dielectric layer includes
Several interface managers, described interface manager is made up of electromagnetic valve group, data acquisition unit and guidance panel,
And a hydraulic support in each interface manager correspondence physical layer；Described system key-course includes two master controls
Device processed, several I/O controllers and total for transmitting the EtherCAT of hydraulic support VLIW control word
Line, is connected by EtherCAT bus between said two master controller and several I/O controllers；Described
Two master controllers are separately positioned on the two ends of fully-mechanized mining working；
Described I/O controller include 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 controls for I/O
The I/O mouth operation of device；Described ESC chip is for the process of EtherCAT bus；Described sensor input I/O
Data acquisition unit and the user input instruction of guidance panel for the described dielectric layer of reading in real time；Described electricity
Magnet valve group output I/O controls the opening and closing movement of electromagnetic valve group in dielectric layer according to the instruction that MCU sends.
Hydraulic support tele-control system based on EtherCAT the most according to claim 1, its feature exists
In: being provided with the RF transmitter for positioning coal-winning machine with described coal-winning machine, described hydraulic pressure props up
The infrared remote receiver corresponding with RF transmitter it is provided with on frame.
Hydraulic support tele-control system based on EtherCAT the most according to claim 2, its feature exists
In: the electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives in physical layer
The hydraulic cylinder of hydraulic support；Described data acquisition unit is for gathering the sensor number of each hydraulic support in physical layer
Value；Described guidance panel is used for man-machine interaction, the input instruction of Gather and input person.
Hydraulic support tele-control system based on EtherCAT the most according to claim 3, its feature exists
In: the master controller in described system key-course is the main frame with Ethernet interface, and the master control of master controller
Network transformer it is provided with between chip and Ethernet interface.
Hydraulic support tele-control system based on EtherCAT the most according to claim 4, its feature exists
In: the number of the I/O controller in described system key-course is identical with the number of the hydraulic support in physical layer,
And one_to_one corresponding is arranged, mutual for dielectric layer；Described I/O controller is according to EtherCAT bus
Control instruction carries out folding control 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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| CN104196553B true CN104196553B (en) | 2016-08-24 |
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Families Citing this family (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 |
| CN104481567B (en) * | 2014-12-26 | 2017-02-22 | 中国矿业大学 | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method |
| 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 |
| 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 |
| 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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