CN104265346B - A kind of control method of hydraulic support tele-control system based on EtherCAT - Google Patents
A kind of control method of hydraulic support tele-control system based on EtherCAT Download PDFInfo
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- CN104265346B CN104265346B CN201410391301.1A CN201410391301A CN104265346B CN 104265346 B CN104265346 B CN 104265346B CN 201410391301 A CN201410391301 A CN 201410391301A CN 104265346 B CN104265346 B CN 104265346B
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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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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Abstract
The invention discloses the control method of a kind of hydraulic support tele-control system based on EtherCAT, comprise the following steps: the memory block of I/O controller is carried out order configuration, and its I/O port address is mapped in very long instruction word the position of correspondence；When operating certain support, input instruction is acquired by I/O controller by the control panel of dielectric layer；And the control instruction collected is filled into the very long instruction word in EtherCAT bus, after a cycle period, it is sent to master controller；Master controller carries out protocol analysis, and control command is filled in the very long instruction word of EtherCAT bus；I/O controller reads out the very long instruction word of EtherCAT bus, obtains Self address and the address mapping relation in very long instruction word, when mapping relations are mated, then takes the instruction of corresponding address；And instruction is carried out protocol analysis, then in real time I/O mouth is operated.Which ensure that the real-time of remotely control, it is provided that the transmission of big data, reliability is high；The development difficulty making hydraulic support tele-control system reduces.
Description
Technical field
The present invention relates to the control method of a kind of hydraulic support electrohydraulic control system, be specifically related to a kind of based on EtherCAT
The control method of hydraulic support tele-control system, belong to the automation control system field of mining equipment.
Background technology
Hydraulic support, is one of the important support apparatus of pit mining, and hydraulic support electrohydraulic control system down-hole especially is combined
Automation control system particularly important on mining face.In combining the research and development adopting intelligent equipment, due to the data volume of communication
Relatively big, communication distance is remote, and the remotely control for hydraulic support the most all cannot keep preferable real-time, and, pass
The hydraulic bracket control system of system, the communication mode using CAN is in the majority, and each support thus must be made corresponding to one
Individual bracket controller, constitutes a complicated distributed communication system, increases the complexity of system development, also reduces simultaneously
The reliability of system.
Meanwhile, utilize traditional method to carry out the Remote Control System of hydraulic support, can not get protecting in terms of real-time
Barrier, general time delay is in ms level even s level so that it is the most unreliable remotely to control.
Additionally, due to the method majority that existing hydraulic bracket control system uses is bus structures control, prop up at hydraulic pressure
When frame controller is designed and realizes, higher to the system communicating requirement of controller, controller design needs the aspect considered
The most more, increase Control System Design difficulty, reduce reliability.
Summary of the invention
In order to overcome drawbacks described above, the present invention provides the control of a kind of hydraulic support tele-control system based on EtherCAT
Method processed, it can not only ensure the real-time remotely controlled, and can provide the transmission of big data；Make hydraulic pressure prop up simultaneously
The development difficulty of frame 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 hydraulic support based on EtherCAT
The control method of tele-control system, this control system includes physical layer, dielectric layer and system key-course, and connects successively between it
Connecing, described physical layer includes the coal-winning machine on work fully mechanized coal face, hydraulic support and drag conveyor, and described hydraulic support is arranged
There are upright post jack, balance jack and lift end jack, being additionally provided with pressure transducer, displacement transducer and attitude sensing
Device, described dielectric layer includes several interface managers, and described interface manager is by electromagnetic valve group, data acquisition unit and control
Panel forms, and a hydraulic support in each interface manager correspondence physical layer；Described system key-course includes two masters
Controller, several I/O controllers and for transmitting the EtherCAT bus of hydraulic support VLIW control word, described two
Connected by EtherCAT bus between individual master controller and several I/O controllers, and control based on described control system
Method comprises the following steps:
(1) when system is dispatched from the factory, at master controller, the memory block to each I/O controller carries out order configuration, 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 referred to by I/O controller by the control panel of dielectric layer
Order is acquired, subsequently into next step；
(3) control instruction that I/O controller will collect, is filled into the very long instruction word in EtherCAT bus, passes through
Mono-cycle period of EtherCAT, is sent to master controller by described very long instruction word；
(4) protocol analysis is carried out after master controller receives the VLIW in EtherCAT bus, then according to agreement
Content 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
Take Self address and the address mapping relation in very long instruction word, when mapping relations are mated, then take the instruction of corresponding address；
(6), after I/O controller takes out instruction, instruction is carried out protocol analysis, then in real time I/O mouth is operated.
Further, in step (2), after instruction acquisition completes, system, according to operator place support number, determines
Whether exceeded safe distance by the distance between operation support and current brackets, then send alarm when exceeding safe distance, and first
Risky operation record, simultaneously write error identification code in the very long instruction word in EtherCAT bus, master control is first carried out in this locality
Device record current erroneous processed operates；When operator is in safe distance, can be carried out next step.
Further, 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 is for the I/O mouth operation of I/O controller；
Described ESC chip is for the process of EtherCAT bus；Described sensor input I/O is for the number of the described dielectric layer of reading in real time
According to harvester and the user input instruction of control panel；The instruction that described electromagnetic valve group output I/O sends according to MCU controls
The opening and closing movement of electromagnetic valve group in dielectric layer.
Further, the RF transmitter for positioning coal-winning machine is installed with described coal-winning machine, described
The infrared remote receiver corresponding with RF transmitter it is provided with on hydraulic support.
Further, the electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives thing
The hydraulic cylinder of hydraulic support in reason layer；Described data acquisition unit is for gathering the sensor number of each hydraulic support in physical layer
Value；Described control panel is used for man-machine interaction, the input instruction of acquisition operations person.
Further, the master controller in described system key-course is the main frame arbitrarily 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 is identical with the number of hydraulic support, and one by one
It is correspondingly arranged, mutual for dielectric layer；Described I/O controller according to the control instruction of EtherCAT bus to electromagnetic valve group
Carry out folding control, and then control hydraulic support action.
The invention has the beneficial effects as follows: by traditional distributed hydraulic support electrohydraulic control system, become distributed I/
O, centralized Control hydraulic support electrohydraulic control system, reduce the complexity of control system so that the electrichydraulic control of hydraulic support
System development is easier to；Improve the reliability of control system, whole system only has master controller to be controlled, I/O controller
Only carrying out real-time action, the design of Content of Communication is the most simple and reliable, greatly reduces the probability of communication mistake；Meanwhile, it is capable to
Ensure the real-time remotely controlled and the transmission of big data can be provided, being simultaneously based on the control system that this control method is realized
System, system bus is single, and network connection architecture is simple, and traffic load is low, and distributed I/O is directly controlled by main controller, significantly drops
The complexity of low Control System Design and realization.
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 will be further elaborated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, the control method of a kind of hydraulic support tele-control system based on EtherCAT, this control
System processed includes physical layer, dielectric layer and system key-course, and is sequentially connected with between it, and described physical layer includes work fully mechanized coal face
On coal-winning machine, hydraulic support and drag conveyor, described hydraulic support is provided with upright post jack, balance jack and lifts
End jack, is additionally provided with pressure transducer, displacement transducer and attitude transducer, and described dielectric layer includes several mouthpieces
Reason device, described interface manager is made up of electromagnetic valve group, data acquisition unit and control panel, and each interface manager is corresponding
A hydraulic support in physical layer；Described system key-course include two master controllers, several I/O controllers and for
The EtherCAT bus of transmission hydraulic support VLIW control word, said two master controller and several I/O controllers it
Between connected by EtherCAT bus, and control method based on described control system comprises the following steps:
(1) when system is dispatched from the factory, at master controller, the memory block to each I/O controller carries out order configuration, 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 referred to by I/O controller by the control panel of dielectric layer
Order is acquired, subsequently into next step；
(3) control instruction that I/O controller will collect, is filled into the very long instruction word in EtherCAT bus, passes through
Mono-cycle period of EtherCAT, is sent to master controller by described very long instruction word；
(4) protocol analysis is carried out after master controller receives the VLIW in EtherCAT bus, then according to agreement
Content 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
Take Self address and the address mapping relation in very long instruction word, when mapping relations are mated, then take the instruction of corresponding address；
(6), after I/O controller takes out instruction, instruction is carried out protocol analysis, then in real time I/O mouth is operated.
In step (2), after instruction acquisition completes, system, according to operator place support number, determines by operation
Whether the distance between frame and current brackets exceedes safe distance, then sends alarm when exceeding safe distance, and first in this locality
Carry out risky operation record, simultaneously write error identification code in the very long instruction word in EtherCAT bus, master controller record
Current erroneous operates；When operator is in safe distance, can be carried out next step.
Described I/O controller includes MCU, ESC chip, sensor input I/O, electromagnetic valve group output I/O, local data
Storehouse, PHY device, network transformer and Ethernet interface；Described MCU is for the I/O mouth operation of I/O controller；Described ESC core
Sheet is for the process of EtherCAT bus；Described sensor input I/O is for the data acquisition unit of the described dielectric layer of reading in real time
And the user input instruction of control panel；The instruction that described electromagnetic valve group output I/O sends according to MCU controls in dielectric layer
The opening and closing movement of electromagnetic valve group.
RF transmitter for positioning coal-winning machine is installed, on described hydraulic support with described coal-winning machine
It is provided with the infrared remote receiver corresponding with RF transmitter.
Electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives hydraulic pressure in physical layer
The hydraulic cylinder of support；Described data acquisition unit is for gathering the sensor values of each hydraulic support in physical layer；Described control
Panel is used for man-machine interaction, the input instruction of acquisition operations person.
Master controller in described system key-course is the main frame arbitrarily 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 hydraulic support, and one_to_one corresponding is arranged,
Mutual for dielectric layer；Described I/O controller carries out folding according to the control instruction of EtherCAT bus to electromagnetic valve group
Control, and then control hydraulic support action.
Claims (7)
1. a control method for hydraulic support tele-control system based on EtherCAT, this control system include physical layer,
Dielectric layer and system key-course, and be sequentially connected with between it, described physical layer includes that the coal-winning machine on work fully mechanized coal face, hydraulic pressure prop up
Frame and drag conveyor, described hydraulic support be provided with upright post jack, balance jack and lift end jack, being additionally provided with
Pressure transducer, displacement transducer and attitude transducer, described dielectric layer includes several interface managers, described interface management
Device is made up of electromagnetic valve group, data acquisition unit and control panel, and a liquid in each interface manager correspondence physical layer
Pressure support；Described system key-course includes two master controllers, several I/O controllers and for transmitting hydraulic support overlength
The EtherCAT bus of instruction control word, total by EtherCAT between said two master controller and several I/O controllers
Line connects, it is characterised in that: control method based on described control system comprises the following steps:
(1) when system is dispatched from the factory, at master controller, the memory block to each I/O controller carries out order configuration, and will be every
The I/O port address of one I/O controller is mapped in very long instruction word the position of correspondence；
(2) when certain support is operated, I/O controller by the control panel of dielectric layer the input of operator instructed into
Row gathers, subsequently into next step；
(3) control instruction that I/O controller will collect, is filled into the very long instruction word in EtherCAT bus, passes through
Mono-cycle period of EtherCAT, is sent to master controller by described very long instruction word；
(4) protocol analysis is carried out after master controller receives the VLIW in EtherCAT bus, then according to protocol contents
Send 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, is obtained from
Body address and the address mapping relation in very long instruction word, when mapping relations are mated, then take the instruction of corresponding address；
(6), after I/O controller takes out instruction, instruction is carried out protocol analysis, then in real time I/O mouth is operated.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 1, its feature
Be: in step (2), after instruction acquisition completes, system according to operator place support number, determine by operation support with
Whether the distance between current brackets exceedes safe distance, then sends alarm when exceeding safe distance, and first carries out in this locality
Risky operation record, simultaneously write error identification code in the very long instruction word in EtherCAT bus, master controller record is current
Faulty operation；When operator is in safe distance, can be carried out next step.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 1 and 2, it is special
Levy and be: 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 is for the I/O mouth operation of I/O controller；Described ESC chip
Process for EtherCAT bus；Described sensor input I/O in real time read the data acquisition unit of described dielectric layer with
And the user input instruction of control panel；Described electromagnetic valve group output I/O controls electricity in dielectric layer according to the instruction that MCU sends
The opening and closing movement of magnet valve group.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 3, its feature
It is: the RF transmitter for positioning coal-winning machine is installed with described coal-winning machine, described hydraulic support sets
It is equipped with the infrared remote receiver corresponding with RF transmitter.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 4, its feature
It is: the electromagnetic valve group in described dielectric layer is used for converting electrical signals to hydraulic power signal, drives hydraulic pressure in physical layer to prop up
The hydraulic cylinder of frame；Described data acquisition unit is for gathering the sensor values of each hydraulic support in physical layer；Described chain of command
Plate is used for man-machine interaction, the input instruction of acquisition operations person.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 5, its feature
It is: the master controller in described system key-course is the main frame arbitrarily with Ethernet interface, and the master control core of master controller
Network transformer it is provided with between sheet and Ethernet interface.
The control method of hydraulic support tele-control system based on EtherCAT the most according to claim 6, its feature
It is: the number of the I/O controller in described system key-course is identical with the number of hydraulic support, and one_to_one corresponding is arranged, and uses
Mutual in dielectric layer；Described I/O controller carries out folding control according to the control instruction of EtherCAT bus to electromagnetic valve group
System, and then control hydraulic support action.
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| CN201410391301.1A CN104265346B (en) | 2014-08-08 | 2014-08-08 | A kind of control method of hydraulic support tele-control system based on EtherCAT |
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| CN201410391301.1A CN104265346B (en) | 2014-08-08 | 2014-08-08 | A kind of control method of hydraulic support tele-control system based on EtherCAT |
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| 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 |
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| CN102495579A (en) * | 2011-12-15 | 2012-06-13 | 太原重工股份有限公司 | Monitoring system of large-sized hydraulic machine |
| CN103336480A (en) * | 2013-06-09 | 2013-10-02 | 国家电网公司 | Mine equipment monitoring system based on EtherCAT network |
| CN203311211U (en) * | 2013-06-09 | 2013-11-27 | 国家电网公司 | Mine device monitor system based on EtherCAT network |
| CN103439951A (en) * | 2013-08-29 | 2013-12-11 | 华南理工大学 | Information intelligent terminal system of EtherCAT field bus |
| CN104242258A (en) * | 2013-11-25 | 2014-12-24 | 河南理工大学 | Underground coal mine override trip prevention system and method based on EtherCAT |
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