CN107521953A - The controller control system of principal and subordinate and control method and belt self-movable foot end each other - Google Patents
The controller control system of principal and subordinate and control method and belt self-movable foot end each other Download PDFInfo
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- CN107521953A CN107521953A CN201710577758.5A CN201710577758A CN107521953A CN 107521953 A CN107521953 A CN 107521953A CN 201710577758 A CN201710577758 A CN 201710577758A CN 107521953 A CN107521953 A CN 107521953A
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- controller
- control
- control unit
- command information
- oil cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
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Abstract
A kind of control system of controller principal and subordinate each other, including the first controller, second controller, first controller and second controller are electrically connected with by bus, first controller sends command signal to second controller, and then near-end oil cylinder and distal end oil cylinder are controlled by the first controller, second controller sends command signal to the first controller, and then controls near-end oil cylinder and distal end oil cylinder by second controller；The control system of the present invention includes at least two controllers, multiple controllers principal and subordinate each other, and the diverse location of belt self-movable foot end is arranged in, it can realize that belt self-movable foot end controls on the spot, in real time according to the selection automatic switchover master slave mode of operating personnel between multiple controllers；Meanwhile control system can extend the control system that multiple controllers form principal and subordinate each other, remote multiple spot, control, and can correspondingly extend the scale of system signal input quantity and output quantity in real time are realized.
Description
Technical field
The present invention relates to coal mine machinery technical field, more particularly to a kind of control system of principal and subordinate and the control each other of controller
Method and belt self-movable foot end.
Background technology
Belt self-movable foot end is to be used to overlap working face stage loader and Belt Conveying in underground coal mine return airway
The special equipment of machine, while also take on the function of belt conveyer tail.Should ensure in operation crossheading transport, reprint it is logical
Smooth and equipment good linking, ensure the quick passage of elevating conveyor again, while be ensured that the normal operation of belt feeder.Cause
This, the quality of belt self-movable foot end control system, directly affects effective operation of the equipment.
Domestic existing belt self-movable foot end control system is equipped with single controller operation interface, and control system is once
The scale of sizing, its signal input quantity and output quantity is fixed.In view of the special construction and work(of belt self-movable foot end
Can, if controller operation interface is placed on close to belt conveyor tail drum side, operating personnel's adjusting device parameter can be advantageous to,
Prevent windrow and material leakage, but be unfavorable for observing material whether unbalance loading, and adjusting device posture in time easily causes spreading；If
Controller operation interface is placed on away from belt conveyor tail drum side, then opposite situation occurs.Meanwhile such as developing control
Multiplex roles were reserved when being, system architecture can be caused huge, it is with high costs；Such as spare interface deficiency, it is difficult to meet belt certainly again
Input and output gauge mould increase caused by the extension of telephone-moving stern construction.Above-mentioned control system feature directly results in belt self-movable foot end
Manual operation inconvenience behaviour, operating efficiency are low.
The content of the invention
Be necessary to propose a kind of requirement, and can for both having met to control on the spot, in real time rationally, easily extend system scale
Controller principal and subordinate each other belt self-movable foot end control system.
It there is a need to the belt self-movable foot end control method for proposing a kind of controller principal and subordinate each other.
It there is a need to the belt self-movable foot end for proposing a kind of controller control system of principal and subordinate each other.
The control system of controller principal and subordinate each other a kind of, including the first controller, second controller, the first controller are set
In the near-end of self-movable foot end, to be arranged on the segment proximal oil cylinder of self-movable foot end near-end by the control of the first controller, second controls
Device processed is arranged far from the distal end of the self-movable foot end of the first controller, remote to be arranged on self-movable foot end by second controller control
The segment distal oil cylinder at end, the first controller and second controller are electrically connected with by bus, and the first controller controls to second
Device sends command signal, and then is arranged on the segment proximal oil cylinder of self-movable foot end near-end by the control of the first controller and is arranged on
The segment distal oil cylinder of self-movable foot end distal end, second controller sends command signal to the first controller, and then passes through the second control
Device control processed is arranged on the segment proximal oil cylinder of self-movable foot end near-end and is arranged on the segment distal oil cylinder of self-movable foot end distal end.
The belt self-movable foot end control method of controller principal and subordinate each other a kind of, comprises the following steps：
Control signal is inputted to the first controller, the first controller receives control signal and simultaneously produces the first command information, and by institute
State the first command information to send to second controller, now, the first controller is as master controller；
Second controller receives, the first command information of analysis, and sends second controller to the first controller and be used as from controller
The second feedback information, and the second control unit not to operating personnel input control signal respond, now, second control
Device is used as from controller；
To the transducing signal of the first controller sending action state, the first controller responds the sensing for near-end oil cylinder or distal end oil cylinder
Signal, the first command information of control, which is sent, to be stopped, and now, the first controller finishes as the state of master controller；
Control signal is inputted to second controller, second controller receives control signal and simultaneously produces the second command information, and by institute
State the second command information to send to the first controller, now, second controller is as master controller；
First controller receives, the second command information of analysis, and sends the first controller to second controller and be used as from controller
The first feedback information, and the first control unit not to operating personnel input control signal respond, now, first control
Device is used as from controller；
To the transducing signal of second controller sending action state, second controller responds the sensing for near-end oil cylinder or distal end oil cylinder
Signal, the second command information of control, which is sent, to be stopped, and now, second controller finishes as the state of master controller.
A kind of belt self-movable foot end for setting the controller control system of principal and subordinate each other, the belt self-movable foot end are set
Put the control system of controller noted above principal and subordinate each other, the first controller of the controller noted above control system of principal and subordinate each other is arranged on
At the tailstock of belt self-movable foot end, to control the segment proximal oil cylinder at tailstock, second controller is positioned close to
At the head frame of belt self-movable foot end, to control the segment distal oil cylinder at head frame, the first controller leads to second controller
Bus electric connection is crossed, to control the segment distal oil cylinder at head frame by the first controller, or passes through second controller
Segment proximal oil cylinder of the control at tailstock.
The control system of the present invention includes two or at least two controllers, multiple controllers principal and subordinate, and cloth respectively each other
The diverse location in belt self-movable foot end is put, can be according to selection automatic switchover principal and subordinate's mould of operating personnel between multiple controllers
Formula, realize that belt self-movable foot end controls on the spot, in real time；Simultaneously as communication can be established between multiple controllers so that described
Control system can extend the control system that multiple controllers form principal and subordinate each other, realize remote multiple spot, control, and can in real time
Correspondingly extend the scale of system signal input quantity and output quantity.
Brief description of the drawings
Fig. 1 is the functional block diagram of the controller belt self-movable foot end control system of principal and subordinate each other.
Fig. 2 is the connection diagram of belt self-movable foot end.
In figure：First controller 10, second controller 20, the 3rd controller 30, bus 40.
Embodiment
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, common for this area
For technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Referring to Fig. 1, the control system of controller principal and subordinate each other a kind of, including the first controller 10, second controller 20,
One controller 10 is arranged on the near-end of self-movable foot end, to be arranged on the part of self-movable foot end near-end by the control of the first controller 10
Near-end oil cylinder, second controller 20 is arranged far from the distal end of the self-movable foot end of the first controller 10, to pass through second controller
20 controls are arranged on the segment distal oil cylinder of self-movable foot end distal end, the first controller 10 and second controller 20 and pass through the electricity of bus 40
Property connection, the first controller 10 to second controller 20 send command signal, and then by the first controller 10 control be arranged on
The segment proximal oil cylinder of self-movable foot end near-end and the segment distal oil cylinder for being arranged on self-movable foot end distal end, second controller 20 is to the
One controller 10 sends command signal, and then the segment proximal oil for being arranged on self-movable foot end near-end is controlled by second controller 20
Cylinder and the segment distal oil cylinder for being arranged on self-movable foot end distal end.
Further, the first controller 10 includes the first control module, the first drive module, and the first control module is used to control
First drive module works, and the first drive module is used to be connected with the near-end oil cylinder, to drive near-end cylinder action, the second control
Device 20 processed includes the second control module, the second drive module, and the second control module is used to control the second drive module to work, and second
Drive module is used to be connected with the distal end oil cylinder, to drive distal end cylinder action.
Further, the first controller 10 also includes some expansion driving modules, and some expansion driving modules are respectively with first
Control module connects, and to control some expansion driving modules to work by the first control module, some expansion driving modules are used for
It is connected with the part oil cylinder for being arranged on self-movable foot end other positions, to drive these cylinder actions.
Further, the first control module includes the first receiving unit, the first transmitter unit, the first control unit, the second control
Molding block includes the second receiving unit, the second transmitter unit, the second control unit；First control unit is used to receive operating personnel
The control signal of input simultaneously produces the first command information, the first control unit by the first transmitter unit, the second receiving unit to
Second control unit sends first command information of first control unit as master controller, the second control unit to reception the
One command information is analyzed, and the second control unit is according to analysis result by the second transmitter unit, the first receiving unit to the
One control unit sends the second control unit as the second feedback information from controller, and the second control unit is not to operator
The control signal of member's input is responded, for example, when second controller 20 is as from controller, the second control unit is shielded
Cover, do not receive the control signal of operating personnel's input, the first control unit is additionally operable to receive reflection near-end oil cylinder or distal end oil cylinder
The transducing signal of operating state, and the 3rd instruction stopped by the first controller as master controller is sent according to the transducing signal
Information；Second control unit is used for the control signal for receiving operating personnel and produces the second command information, the second control unit warp
Cross the second transmitter unit, the first receiving unit sends the second control unit to the first control unit and referred to as the second of master controller
Information is made, the first control unit is analyzed the second command information of reception, and the first control unit passes through according to analysis result
First transmitter unit, the second receiving unit send the first control unit as the first feedback from controller to the second control unit
Information, and the first control unit does not respond to the control signal of operating personnel's input, the second control unit is additionally operable to receive
Reflect near-end oil cylinder or the transducing signal of distal end cylinder action state, and send and stop second controller according to the transducing signal
As the 4th command information of master controller.
For example, when the first control unit of the first controller 10 is set to major state by the control signal that operating personnel input
When, the first control module send " the first master control " command information, the first transmitter module should " the first master control " information send to
Second receiving module, the second receiving module should " the first master control " information provide to the second control unit and carry out analysis judgement, when
Judged result is when being, then the feedback information of the second control unit generation " second from control ", and sending to the first control unit, and
Now the second control unit does not respond to the control information of operating personnel's input, even if now operating personnel are controlled second
Second control unit of device 20 has carried out start-up operation, and the second control unit does not also respond to the start-up operation, this state, i.e.,
First controller 10 is master control, and second controller 20 is to be always maintained at from the state of control, built in near-end oil cylinder or distal end oil cylinder
Or the cylinder action that is used to detect of peripheral hardware whether sensor in place produces the transducing signal that an action is completed, the first control
After device 10 receives the signal, the first control unit stops producing the command information of " the first master control ", and the second control unit is not also produced
Raw feedback signal, the now major state of the first controller 10 completion, second controller 20 are completed from control state, and the two enters etc.
The command information of operating personnel's input to be received.
When the first controller 10 is in master control, the first controller 10 not only controls the action of near-end oil cylinder, but also logical
Cross the action that second controller 20 controls distal end oil cylinder, i.e. the first control unit receives the driving instruction of operating personnel's input, and
The action of the first drive module is driven according to the driving instruction, and then drives near-end cylinder action, the first control unit is also by the
One transmitter unit, the second receiving unit send the driving instruction to the second control unit, and the second control unit is according to the driving
The drive module of order-driven second acts, and then drives distal end cylinder action.
Similarly, when second controller 20 have received the command information as master control first, then the second control unit is to
One control unit sends the command information of " the second master control ", the feedback information of the first control unit feedback " first from control ", and the
One control unit does not also respond to the start-up operation, even if now first control unit of the operating personnel to the first controller 10
Start-up operation is carried out, the first control unit does not also respond to the start-up operation, is led in this way, realizing second controller 20
Control, the first controller 10 are from the state of control.
When second controller 20 is as master control, second controller 20 not only controls the action of distal end oil cylinder, but also logical
The action of the first controller 10 control near-end oil cylinder is crossed, i.e. the second control unit is additionally operable to receive the drive finger of operating personnel's input
Order, and the action of the second drive module is driven according to the driving instruction, and then distal end cylinder action is driven, the second control unit is also logical
The second transmitter unit, the first receiving unit are crossed to the first control unit transmission driving instruction, the first control unit foundation should
Driving instruction drives the action of the first drive module, and then drives near-end cylinder action.
Further, first controller 10 also includes the first display module, and the second controller 20 also includes second
Display module, the first display module are connected with the first control unit, and the second display module is connected with the second control unit, to pass through
First display module and the second display module show the state of the first controller 10 and second controller 20 simultaneously, and then remind behaviour
Make personnel.
Further, in another better embodiment, the controller each other principal and subordinate control system also include it is some
Controller, some spacing of controls are arranged on the other positions of self-movable foot end, to be arranged on by the control of some controllers from shifting
Some other parts oil cylinders of tail other positions, some controllers pass through the controller 10 of bus 40 and first, second controller
20 are electrically connected with, and a controller is used to receive the control signal of operating personnel's input and produces the controller as main control
The command information of device, and the command information is sent to other each controllers, other instructions of each controller to receiving
Information is analyzed, and feeds back other each controllers as the feedback letter from controller to the controller for sending command information
Breath, and other each control units do not respond to the control signal of operating personnel's input, as described in master controller
Controller is additionally operable to receive the transducing signal of oil cylinder state, oil cylinder herein can be near-end oil cylinder, distal end oil cylinder or other
The oil cylinder that position is set, and send and stop as the command information of master controller according to transducing signal control.
For example, the control system also includes the 3rd controller 30, the 3rd controller 30 passes through the controller of bus 40 and first
10th, second controller 20 is electrically connected with, when second controller 20 have received the command information as master control first, then second
Control unit sends the command information of " the second master control " to the first control unit and the 3rd control unit of the 3rd controller 30, the
One control unit feeds back the feedback information of " first from control " to the second control unit, and the 3rd control unit is also to the second control unit
The feedback information of feedback " the 3rd from control ", and the start-up operation that the first control unit and the 3rd control unit input to operating personnel
Do not respond, even if now operating personnel are carried out to the first control unit of the first controller 10 and/or the 3rd controller 30
Start-up operation, the first control unit and the 3rd controller 30 also do not respond to the start-up operation, in this way, realizing the second control
The master control of device 20 processed, the first controller 10 are from control, the 3rd controller 30 from the state of control.
When the 3rd controller 30 have received the command information as master control first, then the 3rd control unit controls to first
Unit and the second control unit send the command information of " the 3rd master control ", and the first control unit feeds back " the to the 3rd control unit
One from control " feedback information, the second control unit feed back the feedback information of " second from control " to the 3rd control unit, and first controls
The start-up operation that unit processed and the second control unit input to operating personnel does not respond, even if now operating personnel are to first
The first control unit and/or second controller 20 of controller 10 have carried out start-up operation, the first control unit and the second control
Device 20 does not also respond to the start-up operation, in this way, realize the master control of the 3rd controller 30, the first controller 10 from control, second
State of the controller 20 from control.
The present invention also proposes the belt self-movable foot end control method of controller principal and subordinate each other a kind of, comprises the following steps：
Control signal is inputted to the first controller 10, the first controller 10 receives control signal and produces the first command information, and
First command information is sent to second controller 20, now, the first controller 10 is used as master controller；
Second controller 20 receives, analyzes the first command information, and to the first controller 10 send second controller 20 as from
Second feedback information of controller, and the second control unit does not respond to the control signal of operating personnel's input, now, the
Two controllers 20 are used as from controller；
To the transducing signal of the sending action state of the first controller 10, the response of the first controller 10 should for near-end oil cylinder or distal end oil cylinder
Transducing signal, the first command information of control, which is sent, to be stopped, and now, the first controller 10 finishes as the state of master controller；
Control signal is inputted to second controller 20, second controller 20 receives control signal and produces the second command information, and
Second command information is sent to the first controller 10, now, second controller 20 is used as master controller；
First controller 10 receives, analyzes the second command information, and to second controller 20 send the first controller 10 as from
First feedback information of controller, and the first control unit does not respond to the control signal of operating personnel's input, now, the
One controller 10 is used as from controller；
To the transducing signal of the sending action state of second controller 20, the response of second controller 20 should for near-end oil cylinder or distal end oil cylinder
Transducing signal, the second command information of control, which is sent, to be stopped, and now, second controller 20 finishes as the state of master controller.
Further, the control method when the multiple controllers of set-up of control system comprises the following steps：
Control signal is inputted to the first controller 10, the first controller 10 receives control signal and produces the first command information, and
First command information is sent to second controller 20 and other controllers, now, the first controller 10 is used as main control
Device；
Second controller 20 receives, analyzes the first command information, and to the first controller 10 send second controller 20 as from
Second feedback information of controller, and the second control unit does not respond to the control signal of operating personnel's input, other controls
Device processed receives, the first command information of analysis, and sends other controllers as the feedback information from control to the first controller 10,
And other control units do not respond to the control signal of operating personnel's input, now, second controller 20 and other controls
Device processed is used as from controller；
To the transducing signal of the sending action state of the first controller 10, the response of the first controller 10 should for near-end oil cylinder or distal end oil cylinder
Transducing signal, the first command information of control, which is sent, to be stopped, and now, the first controller 10 finishes as the state of master controller；
Control signal is inputted to second controller 20, second controller 20 receives control signal and produces the second command information, and
Second command information is sent to the first controller 10 and other controllers, now, second controller 20 is used as main control
Device；
First controller 10 receives, analyzes the second command information, and to second controller 20 send the first controller 10 as from
First feedback information of controller, and the first control unit does not respond to the control signal of operating personnel's input, other controls
Device processed receives, the second command information of analysis, and sends other controllers as the feedback from controller to second controller 20
Information, and other control units not to operating personnel input control signal react, now, the first controller 10 and its
He is used as from controller controller；
To the transducing signal of the sending action state of second controller 20, the response of second controller 20 should for near-end oil cylinder or distal end oil cylinder
Transducing signal, and control the second command information to send and stop, now, second controller 20 finishes as the state of master controller.
Referring to Fig. 2, the present invention also proposes a kind of belt of controller described in setting control system of principal and subordinate each other from moving
Tail, the belt self-movable foot end set the control system of controller noted above principal and subordinate each other, the control of controller noted above principal and subordinate each other
First controller 10 of system processed is positioned close at the tailstock of belt self-movable foot end, to control the segment proximal at tailstock
Oil cylinder, second controller 20 are positioned close at the head frame of belt self-movable foot end, to control the segment distal oil at head frame
Cylinder, the first controller 10 are electrically connected with second controller 20 by bus 40, to be controlled by the first controller 10 close to head
Segment distal oil cylinder at frame, or the segment proximal oil cylinder at tailstock is controlled by second controller 20.
Further, the belt self-movable foot end also sets up extensible canopy, and the 3rd controller 30, the 3rd control are set on extensible canopy
Device 30 processed is connected with the first controller 10 and second controller 20 by bus 40 respectively, when the 3rd controller 30 is used as master control control
During device processed, the first controller 10 and second controller 20 are from control, then can be controlled and be arranged on certainly by the 3rd controller 30
The different oil cylinders of diverse location on telephone-moving tail, including near-end oil cylinder and distal end oil cylinder.
Step in present invention method can be sequentially adjusted, merged and deleted according to actual needs.
Module or unit in device of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, one of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and will according to right of the present invention
Made equivalent variations are sought, still falls within and invents covered scope.
Claims (10)
- A kind of 1. control system of controller principal and subordinate each other, it is characterised in that：Including the first controller, second controller, first Controller is arranged on the near-end of self-movable foot end, to be arranged on the segment proximal oil of self-movable foot end near-end by the control of the first controller Cylinder, second controller are arranged far from the distal end of the self-movable foot end of the first controller, to be arranged on by second controller control The segment distal oil cylinder of self-movable foot end distal end, the first controller and second controller are electrically connected with by bus, the first controller Command signal is sent to second controller, and then the segment proximal oil of self-movable foot end near-end is arranged on by the control of the first controller Cylinder and the segment distal oil cylinder for being arranged on self-movable foot end distal end, second controller send command signal to the first controller, and then The segment proximal oil cylinder of self-movable foot end near-end is arranged on by second controller control and is arranged on the part of self-movable foot end distal end Distal end oil cylinder.
- 2. the control system of controller as claimed in claim 1 principal and subordinate each other, it is characterised in that：First controller includes first Control module, the first drive module, the first control module be used for control the first drive module work, the first drive module be used for The near-end oil cylinder connection, to drive near-end cylinder action, second controller includes the second control module, the second drive module, Second control module is used to control the work of the second drive module, and the second drive module is used to be connected with the distal end oil cylinder, to drive Dynamic distal end cylinder action.
- 3. the control system of controller as claimed in claim 2 principal and subordinate each other, it is characterised in that：If the first controller also includes Dry expansion driving module, some expansion driving modules are connected with the first control module respectively, to be controlled by the first control module Some expansion driving module work, some expansion driving modules are used to connect with being arranged on the part oil cylinder of self-movable foot end other positions Connect, to drive these cylinder actions.
- 4. the control system of controller as claimed in claim 2 principal and subordinate each other, it is characterised in that：First control module includes the One receiving unit, the first transmitter unit, the first control unit, the second control module include the second receiving unit, the second transmitting list Member, the second control unit；First control unit is used to receive the control signal of operating personnel's input and produces the first command information, First control unit sends the first control unit to the second control unit by the first transmitter unit, the second receiving unit and is used as master First command information of controller, the second control unit are analyzed the first command information of reception, the second control unit according to The second control unit is sent according to analysis result to the first control unit by the second transmitter unit, the first receiving unit to be used as from control Second feedback information of device processed, and the second control unit does not respond to the control signal of operating personnel's input, the first control Unit is additionally operable to receive reflection near-end oil cylinder or the transducing signal of distal end cylinder action state, and sends and stop according to the transducing signal Only the 3rd command information by the first controller as master controller；Second control unit is used for the control for receiving operating personnel's input Signal processed simultaneously produces the second command information, and the second control unit controls by the second transmitter unit, the first receiving unit to first Unit sends second command information of second control unit as master controller, and second instruction of first control unit to reception is believed Breath is analyzed, and the first control unit is single to the second control by the first transmitter unit, the second receiving unit according to analysis result Member sends the first control unit as the first feedback information from controller, and the first control unit is not to operating personnel's input Control signal responds, and the second control unit is additionally operable to receive reflection near-end oil cylinder or the sensing letter of distal end cylinder action state Number, and the 4th command information stopped by second controller as master controller is sent according to the transducing signal.
- 5. the control system of controller as claimed in claim 4 principal and subordinate each other, it is characterised in that：First control unit is additionally operable to The driving instruction of operating personnel's input is received, and the action of the first drive module is driven according to the driving instruction, and then drives near-end Cylinder action, the first control unit also send the drive by the first transmitter unit, the second receiving unit to the second control unit Dynamic instruction, the second control unit drives the action of the second drive module according to the driving instruction, and then drives distal end cylinder action, the Two control units are additionally operable to receive the driving instruction of operating personnel's input, and drive the second drive module to move according to the driving instruction Make, and then drive distal end cylinder action, the second control unit is also controlled by the second transmitter unit, the first receiving unit to first Unit sends the driving instruction, and the first control unit drives the action of the first drive module according to the driving instruction, and then drives Near-end cylinder action.
- 6. the control system of controller as claimed in claim 4 principal and subordinate each other, it is characterised in that：First controller also wraps The first display module is included, the second controller also includes the second display module, and the first display module and the first control unit connect Connect, the second display module is connected with the second control unit, to show the simultaneously by the first display module and the second display module The state of one controller and second controller, and then remind operating personnel.
- 7. the control system of controller as claimed in claim 3 principal and subordinate each other, it is characterised in that：Controller principal and subordinate each other Control system also include some controllers, some spacing of controls are arranged on the other positions of self-movable foot end, with by some Controller controls some other parts oil cylinders for being arranged on self-movable foot end other positions, and some controllers pass through bus and the first control Device processed, second controller are electrically connected with, and a controller is used to receive the control signal of operating personnel's input and produces the control Command information of the device processed as master controller, and the command information is sent to other each controllers, other each controllers The command information received is analyzed, and feeds back other each controllers to the controller for sending command information and is used as from control The feedback information of device processed, and other each control units do not respond to the control signal of operating personnel's input, as master The controller of controller is additionally operable to receive the transducing signal of oil cylinder state, and is used as main control according to transducing signal control The command information of device, which is sent, to be stopped.
- 8. the belt self-movable foot end control method of a kind of controller principal and subordinate each other, it is characterised in that comprise the following steps：Control signal is inputted to the first controller, the first controller receives control signal and simultaneously produces the first command information, and by institute State the first command information to send to second controller, now, the first controller is as master controller；Second controller receives, the first command information of analysis, and sends second controller to the first controller and be used as from controller The second feedback information, and the second control unit not to operating personnel input control signal respond, now, second control Device is used as from controller；To the transducing signal of the first controller sending action state, the first controller responds the sensing for near-end oil cylinder or distal end oil cylinder Signal, the first command information of control, which is sent, to be stopped, and now, the first controller finishes as the state of master controller；Control signal is inputted to second controller, second controller receives control signal and simultaneously produces the second command information, and by institute State the second command information to send to the first controller, now, second controller is as master controller；First controller receives, the second command information of analysis, and sends the first controller to second controller and be used as from controller The first feedback information, and the first control unit not to operating personnel input control signal respond, now, first control Device is used as from controller；To the transducing signal of second controller sending action state, second controller responds the sensing for near-end oil cylinder or distal end oil cylinder Signal, the second command information of control, which is sent, to be stopped, and now, second controller finishes as the state of master controller.
- 9. the belt self-movable foot end control method of controller as claimed in claim 8 principal and subordinate each other, it is characterised in that including with Lower step：Control signal is inputted to the first controller, the first controller receives control signal and simultaneously produces the first command information, and by institute State the first command information to send to second controller and other controllers, now, the first controller is as master controller；Second controller receives, the first command information of analysis, and sends second controller to the first controller and be used as from controller The second feedback information, and the second control unit not to operating personnel input control signal respond, other controllers connect Receive, the first command information of analysis, and send other controllers as the feedback information from control to the first controller, and other are controlled Unit processed does not respond to the control signal of operating personnel's input, now, second controller and other controllers be used as from Controller；To the transducing signal of the first controller sending action state, the first controller responds the sensing for near-end oil cylinder or distal end oil cylinder Signal, the first command information of control, which is sent, to be stopped, and now, the first controller finishes as the state of master controller；Control signal is inputted to second controller, second controller receives control signal and simultaneously produces the second command information, and by institute State the second command information to send to the first controller and other controllers, now, second controller is as master controller；First controller receives, the second command information of analysis, and sends the first controller to second controller and be used as from controller The first feedback information, and the first control unit not to operating personnel input control signal respond, other controllers connect Receive, the second command information of analysis, and send other controllers as the feedback information from controller to second controller, and its He does not react at control unit to the control signal of operating personnel's input, and now, the first controller and other controllers are equal As from controller；To the transducing signal of second controller sending action state, second controller responds the sensing for near-end oil cylinder or distal end oil cylinder Signal, and control the second command information to send and stop, now, second controller finishes as the state of master controller.
- 10. a kind of belt of controller set described in one of the claims 1 to 7 control system of principal and subordinate each other is from telephone-moving Tail, it is characterised in that：The belt self-movable foot end sets the control system of controller noted above principal and subordinate each other, and controller noted above is each other First controller of the control system of principal and subordinate is positioned close at the tailstock of belt self-movable foot end, to control the portion at tailstock Divide near-end oil cylinder, second controller is positioned close at the head frame of belt self-movable foot end, to control the part at head frame remote Oil cylinder is held, the first controller is electrically connected with second controller by bus, to be controlled by the first controller at head frame Segment distal oil cylinder, or pass through segment proximal oil cylinder of the second controller control at the tailstock.
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| CN201710577758.5A CN107521953B (en) | 2017-07-15 | 2017-07-15 | Control system and control method with controllers mutually serving as master and slave and belt self-moving tail |
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| CN201710577758.5A CN107521953B (en) | 2017-07-15 | 2017-07-15 | Control system and control method with controllers mutually serving as master and slave and belt self-moving tail |
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| CN107521953B (en) | 2020-01-21 |
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