CN106869980A - A kind of hydraulic bracket control system based on CAN technology - Google Patents
A kind of hydraulic bracket control system based on CAN technology Download PDFInfo
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- CN106869980A CN106869980A CN201510914974.5A CN201510914974A CN106869980A CN 106869980 A CN106869980 A CN 106869980A CN 201510914974 A CN201510914974 A CN 201510914974A CN 106869980 A CN106869980 A CN 106869980A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims abstract description 9
- 230000006870 function Effects 0.000 claims description 6
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000004134 energy conservation Methods 0.000 claims description 3
- 230000007257 malfunction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 230000004044 response Effects 0.000 description 6
- 239000003245 coal Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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Abstract
A kind of hydraulic bracket control system based on CAN technology, using bussing technique, by way of master ＆ slave control, using CAN fieldbus as communication bus.The control system of hydraulic support receives the parameter information at scene by many level sensors, and the supporting state of support is monitored in real time, controls the position of piston rod so that support can control that completion is tried to stop people from fighting each other and automatic pushing and sliding etc. are operated by command adapted thereto.Data acquisition unit is made up of multiple modules, mainly including power supply module, pressure A/D modular converters, inclination angle communication module, display module, FLASH memory modules, alarm module and CAN communication module etc..The system formulates corresponding task by the requirement to upper machine communication and monitoring.The software systems of host computer are using application SCADA configuration softwares widely at present.MSComm controls, serial communication is then used to reach the efficient of data transfer with stabilization for the data distributing program of data collecting system.
Description
Technical field
The present invention relates to a kind of hydraulic bracket control system based on CAN technology, it is adaptable to mechanical field.
Background technology
Under the conditions of the efficient working face of underground coal mine, hydraulic support as support safety working space one of visual plant, its automatic controlling level has the influence of key for the efficiency and reliability of whole fully mechanized mining process.Hydraulic support effectively prevents the rock on top board or other objects from coming off by the hydraulic pressure support power to tunnel, maintenance work face, protects staff and equipment safety.During coal mining activity, all multiple working conditions of support itself, such as the passage of jack, the transverse shifting of support etc. can in real time be shown by processes such as the monitor in real time and data information acquisition in control system.The dynamic change values such as column pressure value, support operating state, coal winning machine position and jack pass trip can draw the supporting state of support and the running status of relevant device.
The content of the invention
The present invention proposes a kind of hydraulic bracket control system based on CAN technology, by the requirement to upper machine communication and monitoring, formulates corresponding task.The software systems of host computer are using application SCADA configuration softwares widely at present.MSComm controls, serial communication is then used to reach the efficient of data transfer with stabilization for the data distributing program of data collecting system.
The technical solution adopted in the present invention is：The hydraulic control system uses bussing technique, by way of master ＆ slave control, using CAN fieldbus as communication bus.The control system of hydraulic support receives the parameter information at scene by many level sensors, and the supporting state of support is monitored in real time, controls the position of piston rod so that support can control that completion is tried to stop people from fighting each other and automatic pushing and sliding etc. are operated by command adapted thereto.The controller of support is the core of whole control system, is mainly made up of microprocessor, data acquisition unit, operation device etc., according to the programmed instruction of setting, each work condition state of analysis and control support.
The data acquisition unit is made up of multiple modules, mainly including power supply module, pressure A/D modular converters, inclination angle communication module, display module, FLASH memory modules, alarm module and CAN communication module etc..Wherein, the analog quantity of sensor can be converted into 10 digital quantities of precision by A/D converter, be stored in FLASH memory modules, and inclination angle communication module is then using the ASCII character data of hexadecimal representation.The related data information of underground mainly feeds back to transmitter in real time by CAN communication system.When transmitter detects the critical condition of default, corresponding alarm condition will be started, it is achieved thereby that the reliability transmission of information data.
The control system uses MSP430F147 types single-chip microcomputer as the core processor of collector, the processor has the characteristics of energy-conservation, compatible modules are more, cost performance is high, by the integrated register extensions codes of the CPU of 16, it is widely used in the data acquisition unit of underground.It is the built-in 2.5V voltages of ADC12 to choose voltage for pressure sensor, in the defeated as partly added OPA2335 of analog quantity, so that 0-2.5V of the excursion of voltage in setting, it is the built-in 2.5V voltages of ADC12 that the part device of pressure sensor A/D modular converters chooses voltage, in the defeated as partly added OPA2335 of analog quantity, so that the excursion of voltage is in the 0-2.5V for setting, the input of sensor is connected to single-chip microcomputer pin P6.0 and P6.1 by distant place OPA2335.
The hydraulic bracket control system mainly passes through electromagnetic valve driver and electrichydraulic control, core controller is mainly using stability and cost performance LPC2200 higher, the processor is under peripheral bus cisco unity malfunction situation, system can be still maintained normally to run, therefore, it is highly suitable for downhole control system.There are 2 CAN communication routes in system.LED in system supports the figure of 240x128 resolution ratio, and its chip selection signal is nCS2_Y2, and operation address scope is Ox82400000 ~ Ox825FFFFF.
Software for Design for slave computer makes the collaborative work between each hardware module be optimal with communication efficiency, it is necessary to the controlled level according to control system carries out the formulation and configuration of task with the various operating modes of underground.It is main in system that the task of slave computer is divided into input, communication, display, data acquisition, data processing, monitoring and alarm etc..
The system can effectively play the bit rate of CAN by the way of host computer cyclic node control slave computer.Priority of the information in transmitting procedure has height, has highest priority for urgent instruction, so as to ensure the security of system.In the control system based on CAN technology, if having many node instructions to bus transfer data, the priority for carrying out data according to the height of priority is transmitted, and improves the real-time of whole control system.There is large effect the response time of fieldbus for transmission rate, and the response time is relevant with the level quantity and complexity of agreement, and the response time is more long, and the speed of transmission is lower.
The isolated can transceiver module CTM8251 that the control system is used can preferably ensure that bus can still complete itself to use function under by electromagnetic interference or other unstable environment, controller still normal work when being subjected to severe jamming.Bus ESD protective device in system is using NUP2105L etc..
Contacting between the data transfer in the control system, main transmitter and downhole data collector by system, transmitting procedure is communicated by CAN.System formulates form, baud rate of corresponding communications protocol and data transfer etc., to ensure that the function between serial communication more accurate, hardware is more coordinated.For the conversion of uniform data transmission, the baud rate between mainboard, communication switching plate and data acquisition unit is set as 9600.For the form of data, equally it is uniformly processed.Data form includes auspicious head, length, 4 parts of valid data and auspicious tail.The verification mode of information data uses exclusive or check, i.e., every 8 valid data bytes are one group, and the 8th byte is the exclusive or check value of preceding 7 bytes.
The beneficial effects of the invention are as follows：The control system is because using double lower computer systems, test parameters need to be only assigned to slave computer by host computer LabVIEW softwares.After completing sign on, slave computer just can be tested.Host computer only plays the part of the function that monitoring and instruction send in whole process, does not control it.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is control system overall construction drawing of the invention.
Fig. 2 is data collecting system structure chart of the invention.
Fig. 3 is controller principle figure of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, hydraulic control system uses bussing technique, by way of master ＆ slave control, using CAN fieldbus as communication bus.The control system of hydraulic support receives the parameter information at scene by many level sensors, and the supporting state of support is monitored in real time, controls the position of piston rod so that support can control that completion is tried to stop people from fighting each other and automatic pushing and sliding etc. are operated by command adapted thereto.The controller of support is the core of whole control system, is mainly made up of microprocessor, data acquisition unit, operation device etc., according to the programmed instruction of setting, each work condition state of analysis and control support.
Such as Fig. 2, data acquisition unit is made up of multiple modules, mainly including power supply module, pressure A/D modular converters, inclination angle communication module, display module, FLASH memory modules, alarm module and CAN communication module etc..Wherein, the analog quantity of sensor can be converted into 10 digital quantities of precision by A/D converter, be stored in FLASH memory modules, and inclination angle communication module is then using the ASCII character data of hexadecimal representation.The related data information of underground mainly feeds back to transmitter in real time by CAN communication system.When transmitter detects the critical condition of default, corresponding alarm condition will be started, it is achieved thereby that the reliability transmission of information data.
Control system uses MSP430F147 types single-chip microcomputer as the core processor of collector, and the processor has the characteristics of energy-conservation, compatible modules are more, cost performance is high, by the integrated register extensions codes of the CPU of 16, is widely used in the data acquisition unit of underground.It is the built-in 2.5V voltages of ADC12 to choose voltage for pressure sensor, in the defeated as partly added OPA2335 of analog quantity, so that 0-2.5V of the excursion of voltage in setting, it is the built-in 2.5V voltages of ADC12 that the part device of pressure sensor A/D modular converters chooses voltage, in the defeated as partly added OPA2335 of analog quantity, so that the excursion of voltage is in the 0-2.5V for setting, the input of sensor is connected to single-chip microcomputer pin P6.0 and P6.1 by distant place OPA2335.
Such as Fig. 3, hydraulic bracket control system mainly passes through electromagnetic valve driver and electrichydraulic control, core controller is mainly using stability and cost performance LPC2200 higher, the processor is under peripheral bus cisco unity malfunction situation, system can be still maintained normally to run, therefore, it is highly suitable for downhole control system.There are 2 CAN communication routes in system.LED in system supports the figure of 240x128 resolution ratio, and its chip selection signal is nCS2_Y2, and operation address scope is Ox82400000 ~ Ox825FFFFF.
Software for Design for slave computer makes the collaborative work between each hardware module be optimal with communication efficiency, it is necessary to the controlled level according to control system carries out the formulation and configuration of task with the various operating modes of underground.It is main in system that the task of slave computer is divided into input, communication, display, data acquisition, data processing, monitoring and alarm etc..
System can effectively play the bit rate of CAN by the way of host computer cyclic node control slave computer.Priority of the information in transmitting procedure has height, has highest priority for urgent instruction, so as to ensure the security of system.In the control system based on CAN technology, if having many node instructions to bus transfer data, the priority for carrying out data according to the height of priority is transmitted, and improves the real-time of whole control system.There is large effect the response time of fieldbus for transmission rate, and the response time is relevant with the level quantity and complexity of agreement, and the response time is more long, and the speed of transmission is lower.
The isolated can transceiver module CTM8251 that control system is used can preferably ensure that bus can still complete itself to use function under by electromagnetic interference or other unstable environment, controller still normal work when being subjected to severe jamming.Bus ESD protective device in system is using NUP2105L etc..
Contacting between the data transfer in control system, main transmitter and downhole data collector by system, transmitting procedure is communicated by CAN.System formulates form, baud rate of corresponding communications protocol and data transfer etc., to ensure that the function between serial communication more accurate, hardware is more coordinated.For the conversion of uniform data transmission, the baud rate between mainboard, communication switching plate and data acquisition unit is set as 9600.For the form of data, equally it is uniformly processed.Data form includes auspicious head, length, 4 parts of valid data and auspicious tail.The verification mode of information data uses exclusive or check, i.e., every 8 valid data bytes are one group, and the 8th byte is the exclusive or check value of preceding 7 bytes.
Claims (7)
1. a kind of hydraulic bracket control system based on CAN technology, it is characterized in that：The hydraulic control system uses bussing technique, by way of master ＆ slave control, using CAN fieldbus as communication bus；The control system of hydraulic support receives the parameter information at scene by many level sensors, and the supporting state of support is monitored in real time, controls the position of piston rod so that support can control that completion is tried to stop people from fighting each other and automatic pushing and sliding etc. are operated by command adapted thereto.
2. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：The data acquisition unit is made up of multiple modules, mainly including power supply module, pressure A/D modular converters, inclination angle communication module, display module, FLASH memory modules, alarm module and CAN communication module etc..
3. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：The control system uses MSP430F147 types single-chip microcomputer as the core processor of collector, the processor has the characteristics of energy-conservation, compatible modules are more, cost performance is high, by the integrated register extensions codes of the CPU of 16, it is widely used in the data acquisition unit of underground.
4. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：The hydraulic bracket control system mainly passes through electromagnetic valve driver and electrichydraulic control, core controller is mainly using stability and cost performance LPC2200 higher, the processor is under peripheral bus cisco unity malfunction situation, system can be still maintained normally to run, therefore, it is highly suitable for downhole control system.
5. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：The system can effectively play the bit rate of CAN by the way of host computer cyclic node control slave computer；Priority of the information in transmitting procedure has height, has highest priority for urgent instruction, so as to ensure the security of system.
6. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：The isolated can transceiver module CTM8251 that the control system is used can preferably ensure that bus can still complete itself to use function under by electromagnetic interference or other unstable environment; controller still normal work when being subjected to severe jamming, the bus ESD protective device in system is using NUP2105L etc..
7. a kind of hydraulic bracket control system based on CAN technology according to claim 1, it is characterized in that：Contacting between the data transfer in the control system, main transmitter and downhole data collector by system, transmitting procedure is communicated by CAN.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510914974.5A CN106869980A (en) | 2015-12-14 | 2015-12-14 | A kind of hydraulic bracket control system based on CAN technology |
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| CN201510914974.5A CN106869980A (en) | 2015-12-14 | 2015-12-14 | A kind of hydraulic bracket control system based on CAN technology |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106640167A (en) * | 2016-10-15 | 2017-05-10 | 太原理工大学 | Fully mechanized mining working face three-computer monitoring system communication network based on LabVIEW |
| CN109057847A (en) * | 2018-11-05 | 2018-12-21 | 郑州煤机液压电控有限公司 | Hydraulic support electrohydraulic control system |
| CN109209504A (en) * | 2018-11-05 | 2019-01-15 | 郑州煤机液压电控有限公司 | Programmable host computer is automatically with machine method |
| CN109915193A (en) * | 2019-04-02 | 2019-06-21 | 北京天地玛珂电液控制系统有限公司 | Hydraulic bracket control system |
| CN113847076A (en) * | 2021-08-31 | 2021-12-28 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support controller and hydraulic support control system |
| CN116909195A (en) * | 2023-08-24 | 2023-10-20 | 四川航天电液控制有限公司 | Low-power-consumption mining bus type data acquisition system |
-
2015
- 2015-12-14 CN CN201510914974.5A patent/CN106869980A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106640167A (en) * | 2016-10-15 | 2017-05-10 | 太原理工大学 | Fully mechanized mining working face three-computer monitoring system communication network based on LabVIEW |
| CN109057847A (en) * | 2018-11-05 | 2018-12-21 | 郑州煤机液压电控有限公司 | Hydraulic support electrohydraulic control system |
| CN109209504A (en) * | 2018-11-05 | 2019-01-15 | 郑州煤机液压电控有限公司 | Programmable host computer is automatically with machine method |
| CN109209504B (en) * | 2018-11-05 | 2020-03-24 | 郑州煤机液压电控有限公司 | Programmable automatic machine following method for upper computer |
| CN109915193A (en) * | 2019-04-02 | 2019-06-21 | 北京天地玛珂电液控制系统有限公司 | Hydraulic bracket control system |
| CN109915193B (en) * | 2019-04-02 | 2020-12-22 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support control system |
| CN113847076A (en) * | 2021-08-31 | 2021-12-28 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support controller and hydraulic support control system |
| CN116909195A (en) * | 2023-08-24 | 2023-10-20 | 四川航天电液控制有限公司 | Low-power-consumption mining bus type data acquisition system |
| CN116909195B (en) * | 2023-08-24 | 2024-06-04 | 四川航天电液控制有限公司 | Low-power-consumption mining bus type data acquisition system |
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Application publication date: 20170620 |
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