CN108979617A - A kind of control system of underground coal mine remote control pressure release drilling machine - Google Patents
A kind of control system of underground coal mine remote control pressure release drilling machine Download PDFInfo
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- CN108979617A CN108979617A CN201811080337.2A CN201811080337A CN108979617A CN 108979617 A CN108979617 A CN 108979617A CN 201811080337 A CN201811080337 A CN 201811080337A CN 108979617 A CN108979617 A CN 108979617A
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- 238000005553 drilling Methods 0.000 title claims abstract description 53
- 239000003245 coal Substances 0.000 title claims abstract description 26
- 230000006854 communication Effects 0.000 claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000002349 favourable effect Effects 0.000 claims description 4
- 238000004886 process control Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 11
- 238000011161 development Methods 0.000 abstract description 4
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- 230000018109 developmental process Effects 0.000 description 3
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
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- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
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Abstract
The invention discloses a kind of control systems of underground coal mine remote control pressure release drilling machine, which includes remote control signal receiver component, and the remote control signal receiver component is used to receive the control signal of remote signal emitting module transmission；Main control component, the main control component include InterControl master controller, and the main control component can be communicated with the remote control signal receiver component to be connected；The main control component will be for that will be analyzed and processed acquisition operation instruction information by the received remote signal of remote control signal receiver component；Solenoid valve control component, the solenoid valve control component include EPEC solenoid valve controller.System provided by the present application introduces CANopen communication protocol in conjunction with the characteristics of master controller and solenoid valve controller, realizes the remote control operation of pressure release drilling machine drive system.The system is mined under coal mine, development end application is good, and system is stable, fault point is few, not only reduces operator's quantity, but also improve the construction efficiency of pressure release drilling and the safety of construction.
Description
Technical field
The present invention relates to automatic control technology fields, more particularly to a kind of control system of underground coal mine remote control pressure release drilling machine
System.
Background technique
Coal mine is that a kind of slow-speed of revolution, large torque, the all-hydraulic tunnel pressure release that can creep into heavy caliber hole are bored with pressure release drilling machine
Machine.The pressure release drilling machine creeps into heavy caliber gas extraction hole, pressure relief vent and other engineering holes for underground coal mine and provides necessary brill
Visit equipment.
Pressure release drilling machine in coal mine full hydraulic tunnel is a kind of power unit type pressure release drilling machine, the machine range of revolution is wide, torque is big,
Act that pull out ability strong.It can satisfy the needs of drilling various uses drilling, such as geological prospecting hole, erosion control pressure relief vent, draw out methane hole,
Water injection hole and other engineering holes.Suitable for hard alloy drilling and rotary-percussive drilling.
When carrying out stope of coal mines work using pressure release drilling machine, the construction method of traditional relief hole is manually to use liquid
Pressure drilling row punching pressure release, had not only expended a large amount of man power and materials, but also the construction time is long.Since process flow determines that worker is necessary
It stands below punching, punching in this way can generate a large amount of dust, have the danger of roof fall at any time, and support efficiency is low.
In order to realize the Strategic Measure of personnel reduction and enlargement, coal mine equipment is necessary, using intellectualized technology, reliable electrichydraulic control
System is exactly to realize the key component of device intelligence, i.e., adds a set of control system of rig in pressure release drilling machine, make to drill, change drilling rod
It can realize mechanized operation.Electro-hydraulic remote control method is proposed for borer system, and worker can be far from danger zone, by electro-hydraulic
Control realizes that drilling machine works, and not only greatlys save and beats machine system, mechanized operation can be realized by making to creep into and change bar.Pin hole
Time also improves the conventional method of the current drilling machine remote control of working efficiency are as follows: and " controller+amplifier ", but using
It is but had the following problems in journey:
1, using Modbus communication protocol, program is executed and the communication effect time is all longer, movement when causing remote control operation
The real-time of response is poor.
2, solenoid valve is acted using Europe format amplifier drive control large arm and drill arm mechanism, controlled range is narrow, Er Qieji
The structure response time is long.
3, when format amplifier in Europe breaks down, amplifier still has output signal, will cause the non-mine of malfunction of mechanism
Well safety in production brings hidden danger.
Summary of the invention
The present invention provides a kind of control systems of underground coal mine remote control pressure release drilling machine.
The present invention provides following schemes:
A kind of control system of underground coal mine remote control pressure release drilling machine, the system are used for the long-range control of pressure release drilling machine, institute
The system of stating includes:
Remote control signal receiver component, the remote control signal receiver component are used to receive the control of remote signal emitting module transmission
Signal processed；
Main control component, the main control component include InterControl master controller, the main control component and institute
State remote control signal receiver component can communicate it is connected；The main control component by the remote control signal receiver component for that will be received
Remote signal be analyzed and processed acquisition operation instruction information；
Solenoid valve control component, the solenoid valve control component include EPEC solenoid valve controller；The solenoid valve control
Component, which can be communicated with the main control component by CANopen communication network, to be connected；The solenoid valve control component is for receiving
The operation control instruction that main control component is sent, and the pressure release drilling machine is controlled according to the operation control instruction and includes
The working condition of switch electromagnetic valve and electro-hydraulic proportional valve.
It is preferred: it further include intrinsic safety operating assembly, the intrinsic safety operating assembly and the main control group
Part can be communicated connected by CANopen communication network；The intrinsic safety operating assembly is used to be referred to according to operation control
Enable the selection switching of control pressure release rig operations and favourable turn operation.
It is preferred: to further include display, the display can be led to the main control component by RS-232 communication network
Letter is connected；Pressure release pump each motor for the including when display is used for real-time display remote control operation and each hydraulic
The state of mechanism and the various fault messages of system.
It is preferred: to further include main control room, the display is located in the main control room.
Preferred: the remote signal emitting module includes hand-held remote control unit, and the hand-held remote controller is located at the master
In control room.
It is preferred: the CANopen communication network include at least CANopen communication subsystem, PWM control subsystem and
Motor control subsystem.
It is preferred: to further include drilling machine electric cabinet, the main control component is located in the drilling machine electric cabinet.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
By the invention it is possible to a kind of control system of underground coal mine remote control pressure release drilling machine be realized, in a kind of implementation
Under, which may include remote control signal receiver component, and the remote control signal receiver component is for receiving remote signal transmitting group
The control signal that part is sent；Main control component, the main control component include InterControl master controller, the main control
Component can be communicated with the remote control signal receiver component to be connected；The main control component will be for that will pass through the remote control signal receiver
The received remote signal of component is analyzed and processed acquisition operation instruction information；Solenoid valve control component, the solenoid valve control
Component includes EPEC solenoid valve controller；The solenoid valve control component and the main control component pass through CANopen communication network
Network can communicate connected；The solenoid valve control component is used to receive the operation control instruction of main control component transmission, and root
The working condition of switch electromagnetic valve and electro-hydraulic proportional valve that the pressure release drilling machine includes is controlled according to the operation control instruction.This
The system that application provides introduces CANopen communication protocol, realizes in conjunction with the characteristics of master controller and solenoid valve controller
The remote control operation of pressure release drilling machine drive system.The system is mined under coal mine, development end application is good, system stabilization, fault point
It is few, operator's quantity is not only reduced, but also improve the construction efficiency of pressure release drilling and the safety of construction.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of connection block diagram of the control system of underground coal mine remote control pressure release drilling machine provided in an embodiment of the present invention；
Fig. 2 is communication network connection block diagram provided in an embodiment of the present invention；
Fig. 3 is CANopen communication subroutine flow chart provided in an embodiment of the present invention；
Fig. 4 is that the control electric current of electro-hydraulic proportional valve provided in an embodiment of the present invention and output flow appease curve；
Fig. 5 is PWM control module input value provided in an embodiment of the present invention and output current relationship curve.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art's every other embodiment obtained belong to what the present invention protected
Range.
This application provides a kind of control systems of high efficiency smart hydraulic drill rig.The development of high efficiency smart hydraulic drill rig is fine
Solution problem above, high efficiency smart hydraulic drill rig be suitable for shock hazard it is strong, in personnel's release work progress easily induce punching
It hits, the place of threat is brought to the security of the lives and property of worker.The hydraulic drill rig is using remote operation control, through evaluation impact danger
Dangerous strong place, when construction personnel's release solution is endangered, in the complete safety place of supporting using remote operation control, even if occurring
Impact event will not cause the injury of construction personnel, greatly ensure the safety of construction personnel；And it is met in release work progress
There is stress to be concentrated with bit freezing, inhale when the power such as brill show and can observe；The drill carriage torque is big, and destressing borehole diameter is big, pressure relief vent
The phenomenon that powder is more out, and release effect is obvious, falls drilling rod significantly reduce, and have preferable popularization and application foreground.
Embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, for a kind of underground coal mine remote control pressure release drilling machine provided in an embodiment of the present invention
Control system, as shown in Figure 1, the system is used for the long-range control of pressure release drilling machine, which includes:
Remote control signal receiver component, the remote control signal receiver component are used to receive the control of remote signal emitting module transmission
Signal processed；
Main control component, the main control component include InterControl master controller, the main control component and institute
State remote control signal receiver component can communicate it is connected；The main control component by the remote control signal receiver component for that will be received
Remote signal be analyzed and processed acquisition operation instruction information；
Solenoid valve control component, the solenoid valve control component include EPEC solenoid valve controller；The solenoid valve control
Component, which can be communicated with the main control component by CANopen communication network, to be connected；The solenoid valve control component is for receiving
The operation control instruction that main control component is sent, and the pressure release drilling machine is controlled according to the operation control instruction and includes
The working condition of switch electromagnetic valve and electro-hydraulic proportional valve.
It further, further include intrinsic safety operating assembly, the intrinsic safety operating assembly and the main control
Component can be communicated connected by CANopen communication network；The intrinsic safety operating assembly is used to be controlled according to the operation
The selection switching of instruction control pressure release rig operations and favourable turn operation.
It further, further include display, the display and the main control component can by RS-232 communication network
Communication is connected；The pressure release when display is used for real-time display remote control operation pumps each motor and each liquid for including
The state of press mechanism and the various fault messages of system.It further include main control room, the display is located at the main control room
It is interior.The remote signal emitting module includes hand-held remote control unit, and the hand-held remote controller is located in the main control room.
The CANopen communication network includes at least CANopen communication subsystem, PWM control subsystem and motor
Control subsystem.It further include drilling machine electric cabinet, the main control component is located in the drilling machine electric cabinet.
In conjunction with the characteristics of InterContrl master controller and EPEC solenoid valve controller, it is real to introduce CANopen communication network
Borer system real-time data transmission is showed.In conjunction with the advantages of comprehensive electrichydraulic control and remote control system, pressure release borer system is realized
Remote control operation.The borer system realizes borer system real-time data transmission under coal mine.In conjunction with comprehensive electrichydraulic control and distant
The advantages of control system, realizes the remote control operation of pressure release borer system.The borer system development end, stope under certain mine
The application that pressure release of constructing drills is good, and system is stable, reliable and fault point is few, while reducing number of workers, improves coal mine
Underground support efficiency improves the working environment of workers, realizes far distance control.
Since drilling machine long-play is in moist more water, dust concentration is big, environmental temperature fluctuation range is big, electromagnetic interference is strong
Adverse circumstances under, and itself service load mutability is strong, shockproofness is big, and remote control is improved by design on hardware and software and is bored
The environmental suitability and functional reliability of machine system, to guarantee that the safety of equipment and operator is necessary.Therefore, it mentions
Out using the method for " InterControl master controller+EPEC solenoid valve controller " control borer system, in conjunction with CAN-open
Communication network establishes data-set structure, overcomes drilling machine remote control operation problem encountered.
Communication system composition
As shown in Fig. 2, communication system selection CANopen communication protocol sets up communication system network, in entire communication network
In, master controller is the core of CANopen communication network, i.e. the main website of communication network, it have start and stop meshed network,
The functions such as node state detection, netboot, remaining equipment are the slave station of communication network, remote-control receiver and EPEC control cabinet
Respectively No. 3 stations and No. 4 stations.The data of telecontrol transmitter are transferred to main control by radioing to remote-control receiver
After device is analyzed and processed, EPEC solenoid valve controller is sent to by CANopen communication protocol, is that the controller realizes split
The control of powered-down magnet valve and electro-hydraulic proportional valve, intrinsic safety control box realize that pressure release rig operations and the selection of favourable turn operation are cut
Change switch.
Solenoid valve controller is using small in size, the response time is fast, degree of protection is high, strong antijamming capability and I/O point are more
EPEC controller.The real-time, interactive with main controller data is realized by CANopen communication protocol simultaneously, realizes that borer system is each
The control of a function, remote-control receiver and transmitter using the microprocessor of ARM series as processing unit, also by
CANopen communication protocol and main controller realize data transmitting.Therefore remote control system is the core of radio operation borer system, is had
Operation locking, the functions such as fault diagnosis earn in the hardware and software of a system and contain multiple safety protection.That is, two
Controller can independently carry out mathematical logic operation, if there is any failure, can cut off electromagnetism valve events, receiver and control
Device communicates the implementation reliable transmission for realizing data, the work shape of electric cabinet display screen simultaneous display remote control system by CANopen
State and fault message.
Industrial display and controller by RS-232 communication transmitting data, motor when real-time display remote control operation and
The state of each hydraulic mechanism and the various fault messages of system.By display independently of CANopen communication network, Ke Yibao
For card in the case where communication failure occurs in the CANopen network equipment, system capability user provides failure diagnosis information, in controller
Occur thanking you for your congratulation with industrial display and does not influence the normal work of other communication equipments in the case where failure.
Communication process
Program is mainly made of CANopen communication subprogram, PWM control subprogram, Motor Control subprogram etc..It is all
It is run in subprogram all in the project predefined separate procedure PLC-PRG of system.Each cycle period quilt of PIC-PRG
System, which is called, to be executed once, and the main program of a single task program is equivalent to.As shown in Figure 3.
The initialization of master node CANopen board is completed after system electrification first, then adds CANopen network slave station
Node simultaneously starts respectively from the heartbeat inspecting of node.Host node is by monitoring each from the work shape of node in CANopen bus
State, and BOOt-up message is sent from node to host node, main website judges the shape from node by returning to state value from node
State can receive the configuration for the SDO message progress object dictionary that host node is sent from node and check whether main and subordinate node is transported
Row is normal, sends NMT message to host node after having operated to change the working condition from node.
After system enters mode of operation, the real-time Transmission of communication data is realized.CANopen communication protocol defines accordingly
Image address area is equivalent in C language and directly operates to address, is i.e. PDO believes for sending and receiving the data on network
The reading of breath can be position, byte or word addressing therefore realize the transparent transmission of completion of PDO data, bring very to program composition
It is big convenient.Main and subordinate node uses mode synchronizing cycle of PDO information, realizes instruction and the two-way reading of operation information.PDO information
The data transmission of point to multi--point on CANopen network, i.e., each PDO can transmit the data of 8 bytes.CANopen net
The reading of PDO information is exactly read-write of the data in image address area on network, and each node can read and write needs according to image address
PDO information, realize network equipment data exchange.
Solenoid valve controller EPEC drives electro-hydraulic proportional valve
Response speed, control precision and the openings of sizes of solenoid valve are three crucial factors for influencing executing agency's operation.
The Systematic selection solenoid valve controller goes to matching pressure release borer system executing agency to solenoid valve response speed, control precision and opens
The requirement of mouth size.
The factor of solenoid valve response time depends primarily on the data transmission rate of CAN-open communication system.For control electricity
Liquid proportional valve, solenoid valve response time in addition to being influenced by communications system transmission rate, are more dependent upon the frequency of PWM output signal
Rate.PWM output signal frequency size determines the response speed of solenoid valve, and the size of frequency and the response speed of solenoid valve are at just
Than.The fluctuation that electromagnetic valve coil keeps electric current can be reduced by increasing PWM frequency, but PWM frequency is excessively high, and the interference of circuit will increase
Greatly, then coil keeps the fluctuation reduction amplitude of electric current that will become smaller.Therefore, it is necessary to optimize PWM frequency to reduce electromagnetic valve coil
The electromagnetic interference of current fluctuation and circuit not only may be used that is, in the case where guaranteeing that solenoid valve is reliably attracted using low PWM frequency
To reduce the power consumption of electromagnetic valve coil, response speed when solenoid valve is closed can also be improved.Solenoid valve controller can be direct
PWM relevant parameter is set, and detailed PWM output frequency setting is omitted.
Influence the determination of solenoid valve openings of sizes parameter
Since solenoid valve controller individually carries out solenoid valve operation control, program runtime and mistake are greatly reduced
Rate.Relationship when different voltages grade between the control electric current and solenoid valve output flow of electro-hydraulic proportional valve is as shown in Figure 4.From figure
In as can be seen that solenoid valve starts to open completion and opens corresponding current range when the voltage class of solenoid valve is DC24V
For 300-600.
According to the electric current corresponding relationship of Fig. 4 and the action value of remote control transmitter analog quantity handle, controller PWM control module
The relation curve of input value and output current value is as shown in Figure 5.X is module input value, i.e. the analog quantity handle of remote control transmitter
Action value, Y are module output valve, the i.e. current value of solenoid valve, i.e., when input value is how many, expectation solenoid valve can reach more
Few electric current.
The main component of the system selects core of the degree of protection for the controller of IP67 as system.CANopen is led to
Letter agreement is introduced into drilling machine remote control electrohydraulic control system, realizes the real-time reliable transmission of telecommand.Increase a controller,
Realize electro-hydraulic proportional valve directly drives control, the malfunction of amplifier failures bring mechanism is avoided, by controller
Output electric current carry out implementation compensation, influence of the electromagnet change in resistance to electro-hydraulic proportional valve openings of sizes is avoided, to protect
It has demonstrate,proved the control precision of solenoid valve: parametric programming setting is carried out by characteristic curve to electro-hydraulic proportional valve and time response,
It solves the problems, such as that solenoid valve is reliably opened, and has better adapted to different load scenarios.
The system selects dual controller, and data transmission only needs both threads between controller, greatly reduces equipment association
When malfunctioning node.Solenoid valve controller individually controls solenoid valve, not only improves solenoid valve response speed, precision and reliability,
Also prevent equipment from state out of control occur to the full extent.
Two controllers individually carry out logical operation, and one of damage, another can timely feedback information.Controller
Possible failure is farthest considered in program and is dealt with, and when master controller and remote-control receiver communication disruption or is connect
When by wrong data, master controller by the zeros data of all solenoid valves and can send solenoid valve controller to, it can be by institute
Have output signal clearing: when master controller and solenoid valve controller communication disruption, own can be defeated by all control solenoid valves
Signal is reset out, guarantees that equipment will not malfunction.
In short, system provided by the present application introduces CANopen in conjunction with the characteristics of master controller and solenoid valve controller
Communication protocol realizes the remote control operation of pressure release drilling machine drive system.The system is mined under coal mine, development end application is good,
System is stable, fault point is few, not only reduces operator's quantity, but also improves the construction efficiency and construction of pressure release drilling
Safety.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (7)
1. a kind of control system of underground coal mine remote control pressure release drilling machine, which is characterized in that the system is remote for pressure release drilling machine
Process control, the system comprises: remote control signal receiver component, the remote control signal receiver component is for receiving remote signal transmitting
The control signal that component is sent；Main control component, the main control component include InterControl master controller, the master control
Component processed can be communicated with the remote control signal receiver component to be connected；The main control component by the remote signal for that will be connect
It receives the received remote signal of component and is analyzed and processed acquisition operation instruction information；Solenoid valve control component, the solenoid valve control
Component processed includes EPEC solenoid valve controller；The solenoid valve control component and the main control component are logical by CANopen
Communication network can communicate connected；The solenoid valve control component is used to receive the operation control instruction of main control component transmission,
And the work shape of switch electromagnetic valve and electro-hydraulic proportional valve that the pressure release drilling machine includes is controlled according to the operation control instruction
State.
2. the control system of underground coal mine remote control pressure release drilling machine according to claim 1, which is characterized in that further include essence
Safety operation component, the intrinsic safety operating assembly can be led to the main control component by CANopen communication network
Letter is connected；The intrinsic safety operating assembly is used to control pressure release rig operations according to the operation control instruction and favourable turn is grasped
The selection switching of work.
3. the control system of underground coal mine remote control pressure release drilling machine according to claim 1, which is characterized in that further include display
Device, the display, which can be communicated with the main control component by RS-232 communication network, to be connected；The display is for real-time
Display remoting operate when the pressure release pump include each motor and each hydraulic mechanism state and system it is various
Fault message.
4. the control system of underground coal mine remote control pressure release drilling machine according to claim 3, which is characterized in that further include master control
Room processed, the display are located in the main control room.
5. the control system of underground coal mine remote control pressure release drilling machine according to claim 4, which is characterized in that the remote control letter
Number emitting module includes hand-held remote control unit, and the hand-held remote controller is located in the main control room.
6. the control system of underground coal mine remote control pressure release drilling machine according to claim 1, which is characterized in that described
CANopen communication network includes at least CANopen communication subsystem, PWM control subsystem and motor control subsystem.
7. the control system of underground coal mine remote control pressure release drilling machine according to claim 1, which is characterized in that further include drilling machine
Electric cabinet, the main control component are located in the drilling machine electric cabinet.
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| CN201811080337.2A CN108979617A (en) | 2018-09-17 | 2018-09-17 | A kind of control system of underground coal mine remote control pressure release drilling machine |
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| CN201811080337.2A CN108979617A (en) | 2018-09-17 | 2018-09-17 | A kind of control system of underground coal mine remote control pressure release drilling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109519172A (en) * | 2018-12-12 | 2019-03-26 | 天地科技股份有限公司 | A kind of bump Intelligent preventive control system and control method |
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