CN106707743A - Coal planer working face hydraulic support control system based on neural network PID - Google Patents
Coal planer working face hydraulic support control system based on neural network PID Download PDFInfo
- Publication number
- CN106707743A CN106707743A CN201510779273.5A CN201510779273A CN106707743A CN 106707743 A CN106707743 A CN 106707743A CN 201510779273 A CN201510779273 A CN 201510779273A CN 106707743 A CN106707743 A CN 106707743A
- Authority
- CN
- China
- Prior art keywords
- control
- neural network
- control system
- sub
- pid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides a coal planer working face hydraulic support control system based on a neural network PID. A main control computer and a child control computer are adopted for common control, the whole system is not influenced by the fault of the main control computer or the child control computer, and only the failed child control computer or the main control computer is influenced so that the range of influence is small and reliability is high; and a neural network PID control method is adopted, and all the parameters of a controller can be adjusted online so that the error caused by setting the parameters by experience can be reduced, the control accuracy of the system can be enhanced and the adaptability can be enhanced. The simulation result indicates that the control method has better dynamic and static performance in comparison with the conventional control method, and the system can realize automatic control so that the operators of the support can be reduced, the labor intensity can be reduced, the safety can be enhanced, the working environment can be improved and the intelligent and unmanned development direction of the working face of the coal planer is facilitated.
Description
Technical field
The present invention relates to a kind of Particleboard performance hydraulic bracket control system based on Neural network PID, it is adaptable to mechanical field.
Background technology
In face of the new needs of new century coal production, the positive maximization of mining machinery, intelligent, unmanned direction are developed, and the safety and high efficiency of girdle is the key of Chinese coal industrial realization sustainable development.Coal plough is at home and abroad used widely in recent years as the effective means of thin seam mining.Because Particleboard performance mining height is relatively low, although not needing workman to follow shearing machine operation, still need to operate hydraulic support, not only there is severe compromise, and the shearing speed that the speed of frame lags far behind coal plough is manually moved, seriously constrain coal mining efficiency and yield.So the action of Particleboard performance hydraulic support and the automatic passage of conveyer are the emphasis that coal plough realizes automation.
The content of the invention
The present invention proposes a kind of Particleboard performance hydraulic bracket control system based on Neural network PID, using main control computer and sub- control machine co- controlling, whether main control computer or sub- control machine break down all without influence whole system, only influence out of order sub- control machine or main control computer, coverage is small, and reliability is high；Using NN-PID Control Method, can on-line tuning controller parameters, reduce the error that setting parameter by rule of thumb is brought, improve system control accuracy, adaptability strengthens, and simulation result shows that the control method has more preferable dynamic and static properties than traditional control method；System can be realized automatically controlling, and reduce the operating personnel of support, reduce labour intensity, improve security, improve working environment, be conducive to that Particleboard performance is intelligent, unmanned direction is developed.
The technical solution adopted in the present invention is：
The Particleboard performance hydraulic bracket control system, the system is using main control computer and the control system of sub- control machine, one or more hydraulic support is controlled per estrade control machine, linked together by serial communication interface between main control computer and sub- control machine, constitute Particleboard performance hydraulic support dcs.Sub- control machine is using the system for having data acquisition and computer control function concurrently.This control system has procedure auto-control and manually two kinds of input pattern signals of control, using this pattern, can carry out closed-loop control to system by reciprocation, and systematic function is good, and measuring accuracy is high.
The position signalling of coal plough is sent to sub-control system by the master control system by data protocol converter, in the display screen display of subsystem, and the foundation of various actions is carried out as support, the running status of all sub- control machine of whole working face is monitored and shown simultaneously, and by detected data transfer to ground handling station, the mode of operation of the different situation initialization systems according to working face.Sub-control system can realize this automatic setting prop, drop post, move frame, fixed quanting pushing；When planer head is by after some support (settable), hydraulic support sends instruction, on solenoid-driven support by according to the plane of default depth parameter by sub-control system.Electromagnetic priority valve, control bound completes advancing jack pushing and sliding stroke, and pushing and sliding are stopped when setting value is reached；Dig the passage quantitative values that deep quantitative values also determine planer head running track.The search of sub-control system moment is arranged on the pressure sensor and stroke sensor of bracket upright post cavity of resorption, and data of the acquisition device on observing and controlling bar in advancing jack, the position control support according to coal plough completes corresponding action.
Sub- control machine therein can send control command to other sub- control machines, complete the control in groups that 5 frame hydraulic support adjacent to left or right performs same action simultaneously.Sub-control system can show the information such as major parameter and the action of support.Break down or hydraulic support action it is not in place when, acoustic-optic alarm will send fault alarm, and display shows abort situation simultaneously.Sub-control system is formed by single-chip microcomputer extension control passage, signal detection passage, communication interface, keyboard, display, and acoustic-optic alarm.The pressure of signal detection Air conduct measurement bracket hydraulic cylinder and displacement, and these data are sent to single chip compilation, then control command is sent to hydraulic support by control passage, form closed-loop control.
The Neural Network PID Control is Application of Neural Network in PID control and a kind of new type of control method for being combined with traditional PID control and being produced, is that a kind of of traditional PID control is improved and optimize.With the neutral net with self-learning function be combined widely used PID controller by this patent, draws the pid control algorithm of the action of the control hydraulic support based on BP neural network, and Neural Network PID Control program is arranged in subsystem.
The beneficial effects of the invention are as follows：Using main control computer and sub- control machine co- controlling, whether main control computer or the failure of sub- control machine only influences out of order sub- control machine or main control computer all without influence whole system, and coverage is small, and reliability is high；Using NN-PID Control Method, can on-line tuning controller parameters, reduce the error that setting parameter by rule of thumb is brought, improve system control accuracy, adaptability strengthens, and simulation result shows that the control method has more preferable dynamic and static properties than traditional control method；System can be realized automatically controlling, and reduce the operating personnel of support, reduce labour intensity, improve security, improve working environment, be conducive to that Particleboard performance is intelligent, unmanned direction is developed.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is Particleboard performance hydraulic bracket control system of the invention.
Fig. 2 is hydraulic support automatic control flow chart figure of the invention.
Fig. 3 is sub-control system hardware composition figure of the invention.
Fig. 4 is hydraulic support BP neural network PID control system model structure of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, Particleboard performance hydraulic bracket control system, the system is using main control computer and the control system of sub- control machine, one or more hydraulic support is controlled per estrade control machine, linked together by serial communication interface between main control computer and sub- control machine, constitute Particleboard performance hydraulic support dcs.Sub- control machine is using the system for having data acquisition and computer control function concurrently.This control system has procedure auto-control and manually two kinds of input pattern signals of control, using this pattern, can carry out closed-loop control to system by reciprocation, and systematic function is good, and measuring accuracy is high.
Such as Fig. 2, the position signalling of coal plough is sent to sub-control system by master control system by data protocol converter, in the display screen display of subsystem, and the foundation of various actions is carried out as support, the running status of all sub- control machine of whole working face is monitored and shown simultaneously, and by detected data transfer to ground handling station, the mode of operation of the different situation initialization systems according to working face.Sub-control system can realize this automatic setting prop, drop post, move frame, fixed quanting pushing；When planer head is by after some support (settable), hydraulic support sends instruction, on solenoid-driven support by according to the plane of default depth parameter by sub-control system.Electromagnetic priority valve, control bound completes advancing jack pushing and sliding stroke, and pushing and sliding are stopped when setting value is reached；Dig the passage quantitative values that deep quantitative values also determine planer head running track.The search of sub-control system moment is arranged on the pressure sensor and stroke sensor of bracket upright post cavity of resorption, and data of the acquisition device on observing and controlling bar in advancing jack, the position control support according to coal plough completes corresponding action.
As Fig. 3, sub- control machine therein can send control command to other sub- control machines, the control in groups that 5 frame hydraulic support adjacent to left or right performs same action simultaneously is completed.Sub-control system can show the information such as major parameter and the action of support.Break down or hydraulic support action it is not in place when, acoustic-optic alarm will send fault alarm, and display shows abort situation simultaneously.Sub-control system is formed by single-chip microcomputer extension control passage, signal detection passage, communication interface, keyboard, display, and acoustic-optic alarm.The pressure of signal detection Air conduct measurement bracket hydraulic cylinder and displacement, and these data are sent to single chip compilation, then control command is sent to hydraulic support by control passage, form closed-loop control.
Such as Fig. 4, Neural Network PID Control is Application of Neural Network in PID control and a kind of new type of control method for being combined with traditional PID control and being produced, is that a kind of of traditional PID control is improved and optimize.With the neutral net with self-learning function be combined widely used PID controller by this patent, draws the pid control algorithm of the action of the control hydraulic support based on BP neural network, and Neural Network PID Control program is arranged in subsystem.
Claims (5)
1. a kind of Particleboard performance hydraulic bracket control system based on Neural network PID, it is characterized in that：The Particleboard performance hydraulic bracket control system, the system is using main control computer and the control system of sub- control machine, one or more hydraulic support is controlled per estrade control machine, linked together by serial communication interface between main control computer and sub- control machine, constitute Particleboard performance hydraulic support dcs.
2. a kind of Particleboard performance hydraulic bracket control system based on Neural network PID according to claim 1, it is characterized in that：The sub- control machine is using the system for having data acquisition and computer control function concurrently, this control system has procedure auto-control and manually two kinds of input pattern signals of control, using this pattern, can carry out closed-loop control to system by reciprocation, systematic function is good, and measuring accuracy is high.
3. a kind of Particleboard performance hydraulic bracket control system based on Neural network PID according to claim 1, it is characterized in that：The position signalling of coal plough is sent to sub-control system by the master control system by data protocol converter, in the display screen display of subsystem, and the foundation of various actions is carried out as support, the running status of all sub- control machine of whole working face is monitored and shown simultaneously, and by detected data transfer to ground handling station, the mode of operation of the different situation initialization systems according to working face.
4. a kind of Particleboard performance hydraulic bracket control system based on Neural network PID according to claim 1, it is characterized in that：The sub- control machine can send control command to other sub- control machines, complete the control in groups that 5 frame hydraulic support adjacent to left or right performs same action simultaneously, and sub-control system can show the information such as major parameter and the action of support.
5. a kind of Particleboard performance hydraulic bracket control system based on Neural network PID according to claim 1, it is characterized in that：The Neural Network PID Control is Application of Neural Network in PID control and a kind of new type of control method for being combined with traditional PID control and being produced, is that a kind of of traditional PID control is improved and optimize.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510779273.5A CN106707743A (en) | 2015-11-15 | 2015-11-15 | Coal planer working face hydraulic support control system based on neural network PID |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510779273.5A CN106707743A (en) | 2015-11-15 | 2015-11-15 | Coal planer working face hydraulic support control system based on neural network PID |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106707743A true CN106707743A (en) | 2017-05-24 |
Family
ID=58930672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510779273.5A Pending CN106707743A (en) | 2015-11-15 | 2015-11-15 | Coal planer working face hydraulic support control system based on neural network PID |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106707743A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109113771A (en) * | 2018-07-17 | 2019-01-01 | 北京天地玛珂电液控制系统有限公司 | The electro-hydraulic adaptive control system of hydraulic support based on BP neural network model |
| CN113653525A (en) * | 2021-08-13 | 2021-11-16 | 天津美腾科技股份有限公司 | Correction method and device for top coal caving control and electronic equipment |
| CN113653525B (en) * | 2021-08-13 | 2024-04-30 | 天津美腾科技股份有限公司 | Correction method and device for caving coal control and electronic equipment |
-
2015
- 2015-11-15 CN CN201510779273.5A patent/CN106707743A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109113771A (en) * | 2018-07-17 | 2019-01-01 | 北京天地玛珂电液控制系统有限公司 | The electro-hydraulic adaptive control system of hydraulic support based on BP neural network model |
| CN109113771B (en) * | 2018-07-17 | 2020-06-16 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support electrohydraulic self-adaptive control system based on BP neural network model |
| CN113653525A (en) * | 2021-08-13 | 2021-11-16 | 天津美腾科技股份有限公司 | Correction method and device for top coal caving control and electronic equipment |
| CN113653525B (en) * | 2021-08-13 | 2024-04-30 | 天津美腾科技股份有限公司 | Correction method and device for caving coal control and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103147756B (en) | A kind of heading machine memory cutting control system and method thereof | |
| CN104533496B (en) | Grouping pushing-sliding control system and method for intelligent hydraulic supports | |
| CN203993136U (en) | The control cabinet cantilever design that angle is adjustable | |
| CN104564117A (en) | Key point and following stage based automatic control method of working face hydraulic bracket of triangular coal area at working face end head | |
| CN104793569A (en) | Intelligent controller for tool rests of direct-drive numerical-control turrets | |
| CN104695953A (en) | Coal cutter realizing automatic height adjustment of barrel and working method of coal cutter | |
| CN201531263U (en) | Intelligent controlling and monitoring device for rotary drill | |
| CN106707743A (en) | Coal planer working face hydraulic support control system based on neural network PID | |
| CN106401585A (en) | Memory coal cutting control method based on cooperative control over coal cutter and supports | |
| CN105156149A (en) | Fully mechanized coal mining face equipment detection and control method | |
| CN207004518U (en) | A kind of coal-winning machine with telecommunication device | |
| CN103291338A (en) | Hydraulic support electrohydraulic control system | |
| CN204436379U (en) | A kind of coal-winning machine realizing horizon control | |
| CN204984462U (en) | Highdipping super high seam shortwall caving coal working face put coal control system | |
| CN204389986U (en) | Based on the welding stage control system of embedded real-time operating system | |
| CN206392897U (en) | A kind of automatic punching servo cabinet | |
| CN203383820U (en) | Unmanned automatic mining system of working face of coal plough | |
| CN203391051U (en) | Five-surface numerical-control drill synchronization plate pressing mechanism | |
| CN103513634B (en) | Edge machine complex control system | |
| CN116927780A (en) | Three-machine cooperative control method for fully mechanized mining face | |
| CN102797489B (en) | Propping plate pressure graphical displaying and analyzing method based on thrusting degree of coal face | |
| CN103422860B (en) | The unmanned automated mining system of a kind of Particleboard performance | |
| CN205520878U (en) | Numerical control wig -wag tool | |
| CN203362202U (en) | Hydraulic support electro-hydraulic control system | |
| CN206811941U (en) | A kind of more mechanical arms are installed in parallel fixed platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |