采煤机记忆调高试验模型控制系统研究
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摘要
随着采煤机械化程度的不断提高和现代自动控制技术的快速发展,实现无人工作面是现今采矿工业的研究重点,无人工作面实现的关键技术包括采煤机自动调高技术、采煤机自主定位和自动导航技术、煤岩界面识别技术等。而采煤机记忆调高技术是采煤机自动调高技术的关键技术之一,针对传统的采煤机人工调高操作的方法和其他自动调高方法的缺点,本文选择了记忆调高方法,并在采煤机试验模型上就这种方法展开了研究并进行了试验,取得了一定成果。
本文首先阐述了采煤机滚筒调高技术国内外发展趋势和研究现状;通过查阅相关国内外资料,了解了采煤机的工作原理、采煤工艺和滚筒的调高原理,为采煤机结构简化和模型建立打下了坚实的基础;搭建了采煤机记忆调高试验模型并重点对摇臂部分进行了相关分析,给出了试验模型的数学描述,并对相应的控制方法进行了分析;在以上基础上搭建了整个控制系统的硬件平台,详细分析了其中各个部分以及传感器的选型和电气连接;编制了控制系统的软件部分,详细分析了其中各个模块的功能和原理,分析了软件设计过程所需要解决的关键问题;通过硬件设计和软件设计,完成了整个控制系统的设计、制作了印刷电路板并进行了整个系统的调试和试验;对全文做出总结,归纳了研究内容和结论,分析了试验结果,并结合存在的问题,做出进一步的展望,指出采煤机滚筒记忆调高技术在今后需要进一步深入研究。
本课题研究表明,结合嵌入式PC/104计算机开发技术和先进控制理论的应用,采煤机滚筒记忆调高技术渴望取得很大进步,能够在采煤工作面得以实现。
With the mining and continuous improvement of mechanization and rapid development of modern automatic control technology, nowadays miner-less workface is the focus of the research, key technologies of miner-less workface include automatic lifting technology of coal shearer, self-positioning, auto-navigation technology of coal shearer and coal interface identification technology. Mnemonic lifting technology of coal shearer is one important part of the automatic lifting technology of coal shearer. For the disadvantage of the traditional manual operation method of coal shearer drums and other lifting methods, mnemonic lifting method is chosen in this paper, carrying out a pilot study and experiments on the test model of the coal shearer about this method. This research has got a certain achievements.
The paper firstly expounds development trend and research condition of the coal shearer lifting technology at home and abroad. Through accessing to relevant information both at home and abroad, knows working principle of coal shearer and the lifting principle of drums of the coal shearer to lay the foundation of structure simplification and model set-up of real coal shearer; sets up the test model of mnemonic lifting system of coal shearer, analyzes the arms of the coal shearer test model and gives a mathematical description of test model and corresponding analysis of control algorithm; sets up the entire hardware platform of control system based on above analysis and gives a detailed analysis of the various parts of this system, the selection of sensors and electrical connections; programs the control system software part; gives a detailed analysis of the functions and principles of each software module; then analyzes the key issues solved during the process of software design; through hardware and software design, completes the entire control system design, produces two hardware printed circuit boards and carries out the entire system debugging and testing; summarizes the full text,induces the research content and the result,and makes the further forecast combined with existing problems,then points out that the mnemonic lifting technology of coal shearer will be worthy of further thoroughly study from now on.
This thesis indicates that the mnemonic lifting technology of coal shearer can make a great progress by being combined with the development of embedded PC/104 computer technology and the application of advanced control theory and this technology can be realized in the future in the coal mining workface.
本文首先阐述了采煤机滚筒调高技术国内外发展趋势和研究现状;通过查阅相关国内外资料,了解了采煤机的工作原理、采煤工艺和滚筒的调高原理,为采煤机结构简化和模型建立打下了坚实的基础;搭建了采煤机记忆调高试验模型并重点对摇臂部分进行了相关分析,给出了试验模型的数学描述,并对相应的控制方法进行了分析;在以上基础上搭建了整个控制系统的硬件平台,详细分析了其中各个部分以及传感器的选型和电气连接;编制了控制系统的软件部分,详细分析了其中各个模块的功能和原理,分析了软件设计过程所需要解决的关键问题;通过硬件设计和软件设计,完成了整个控制系统的设计、制作了印刷电路板并进行了整个系统的调试和试验;对全文做出总结,归纳了研究内容和结论,分析了试验结果,并结合存在的问题,做出进一步的展望,指出采煤机滚筒记忆调高技术在今后需要进一步深入研究。
本课题研究表明,结合嵌入式PC/104计算机开发技术和先进控制理论的应用,采煤机滚筒记忆调高技术渴望取得很大进步,能够在采煤工作面得以实现。
With the mining and continuous improvement of mechanization and rapid development of modern automatic control technology, nowadays miner-less workface is the focus of the research, key technologies of miner-less workface include automatic lifting technology of coal shearer, self-positioning, auto-navigation technology of coal shearer and coal interface identification technology. Mnemonic lifting technology of coal shearer is one important part of the automatic lifting technology of coal shearer. For the disadvantage of the traditional manual operation method of coal shearer drums and other lifting methods, mnemonic lifting method is chosen in this paper, carrying out a pilot study and experiments on the test model of the coal shearer about this method. This research has got a certain achievements.
The paper firstly expounds development trend and research condition of the coal shearer lifting technology at home and abroad. Through accessing to relevant information both at home and abroad, knows working principle of coal shearer and the lifting principle of drums of the coal shearer to lay the foundation of structure simplification and model set-up of real coal shearer; sets up the test model of mnemonic lifting system of coal shearer, analyzes the arms of the coal shearer test model and gives a mathematical description of test model and corresponding analysis of control algorithm; sets up the entire hardware platform of control system based on above analysis and gives a detailed analysis of the various parts of this system, the selection of sensors and electrical connections; programs the control system software part; gives a detailed analysis of the functions and principles of each software module; then analyzes the key issues solved during the process of software design; through hardware and software design, completes the entire control system design, produces two hardware printed circuit boards and carries out the entire system debugging and testing; summarizes the full text,induces the research content and the result,and makes the further forecast combined with existing problems,then points out that the mnemonic lifting technology of coal shearer will be worthy of further thoroughly study from now on.
This thesis indicates that the mnemonic lifting technology of coal shearer can make a great progress by being combined with the development of embedded PC/104 computer technology and the application of advanced control theory and this technology can be realized in the future in the coal mining workface.
引文
[1]任芳,杨兆建,熊诗波.国内外煤岩界面识别技术研究动态综述.煤,2001.10 (4)
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[3] Schiff.bauer,William H.(U.S.Dep of Energy).Navigation and Control of Continuous Mining Systems for coal Mining.Source:Conference Record-IAS Annual Meeting(IEEE Industry Applications Society).v 4,1996, 2473～2479.
[4] Bauer,Bernd(Aachen Univ.of Technology,IBH),Shan Jianfeng,Burgwinkel.Paul.Condition Monitoring of Machines in Mining Industry Using Vibration Analysis.Mining Science and Technology'99,2002,707～710.
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[6] Alford D.Automatic Vertical Steering of Ranging Drum Shearers Using MIDAS. Mining Technology.1985. (4)
[7] Lei yuyong. Automatic Height Adjustment of Coal Excavator can be Implemented by Work Pressure of Height Adjustment of Oil Cylinder .Colliery Electromechanical. 1994,5 .
[8]梁义雄.采煤机智能调高控制理论与技术:[学位论文].山西:太原理工大学,2005
[9] RenFang, YangZhaojian, XiongShibo. STUDY ON THE COAL-ROCK INTERFACE RECOGNITION METHOD BASED ON MULTI-SENSOR DATA FUSION TECHNIQUE. Chinese Journal of Mechanical Engineering.2003.3(28)
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[14]郝忠军.井下采煤技术及采煤工艺的选择.内蒙古科技与经济.2007.(13)
[15]傅兴夙.采煤概论.北京:煤炭工业出版社1983.79～80
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[17]李春华,刘春生.采煤机滚筒自动调高技术的分析.工矿自动化.2005.(4)
[18]谭翰墨.CNC机床数控系统插补算法的研究:[学位论文].广西:广西大学, 1999
[19]伍胡平,周亚军.数据采样插补算法的研究.组合机床与自动化加工技术.2008. (9)
[20]权秀敏,黄金伟,李众立,尹显明.数控插补算法实训系统的研究与设计.现代机械.2008. (5)
[21]王能超.数值分析简明教程.武汉:华中科技大学出版社,2002,36～38
[22]刘春生,杨秋,荆凯.采煤机滚筒调高记忆程控采样周期.煤矿机电.2006.(4)
[23]卢紫微,张燕.工程曲线的拟合算法分析与设计.现代制造工程.2009.(1)
[24]梅丽凤.单片机原理及接口技术.北京:清华大学出版社;北京交通大学出版社,2004 2～4
[25]王立权.机电控制与可编程序控制器.北京:中央广播电视大学.2001, 104～106
[26]刘艺.嵌入式系统设计大学教程.北京:人民邮电出版社,2008,3～4
[27]包乃兰.基于嵌入式PC104的矿山监测系统设计和开发:[学位论文].河北:河北工业大学2004
[28]王超,许化龙.基于VB和PC104的多路加速度计数据采集系统.弹箭与制导学报. 2008,28(2)
[29] PCM-3370 LV Intel Pentium III/ ULV Celeron PC/104+ CPU Module User’s Manual 2～5
[30] PCM-3718 Series PC/104 12-bit DAS Module with Programmable Gain User Manual 2～5
[31]滕旭,胡志昂.电子系统抗干扰使用技术.北京:国防工业出版社.2004, 1
[32]龚兰芳,张昱.基于电流环的高楼供水水位远程自动监测系统的研制.国外电子元器件.2006,3(3)
[33]王立华,韩敬东,邵玉芹,孟秀锦.基于DSP的4～20 mA电流环的设计.工矿自动化2008.4(2)
[34]徐瑛,叶璐.实现数据长线传输的方法.煤矿自动化. 2000(1)
[35]赵红菊,杨勇,王孝武.一种单相异步电动机调速系统.机械与电子.2004,(8)
[36]王栋.Visual Basic程序设计实用教程.北京:清华大学出版社.2002,6～7
[37]牛洪涛.工控软件的抗干扰设计.自动化博览. 1998,(3)
[38]葛长虹.工业测控系统的抗干扰技术.北京:冶金工业出版社. 2006.113～118
[39]刘士成,王信昌.工控软件的抗干扰设计的编程技术.地质找矿论丛. 2003,(18)增刊
[40]邢永会,周剑玲,张艳青.煤矿单片微机应用系统的软件抗干扰研究.河北煤炭.2000(3)
[2] Peter Reina.Using Pick Forces to Steer Shearers could Bring Auto Steering to the U.S. Coal Age.1987(8).
[3] Schiff.bauer,William H.(U.S.Dep of Energy).Navigation and Control of Continuous Mining Systems for coal Mining.Source:Conference Record-IAS Annual Meeting(IEEE Industry Applications Society).v 4,1996, 2473～2479.
[4] Bauer,Bernd(Aachen Univ.of Technology,IBH),Shan Jianfeng,Burgwinkel.Paul.Condition Monitoring of Machines in Mining Industry Using Vibration Analysis.Mining Science and Technology'99,2002,707～710.
[5] Peary J T.Automatic Steering in the South Yorkshire Area.Colliery Guardian.1987(8).
[6] Alford D.Automatic Vertical Steering of Ranging Drum Shearers Using MIDAS. Mining Technology.1985. (4)
[7] Lei yuyong. Automatic Height Adjustment of Coal Excavator can be Implemented by Work Pressure of Height Adjustment of Oil Cylinder .Colliery Electromechanical. 1994,5 .
[8]梁义雄.采煤机智能调高控制理论与技术:[学位论文].山西:太原理工大学,2005
[9] RenFang, YangZhaojian, XiongShibo. STUDY ON THE COAL-ROCK INTERFACE RECOGNITION METHOD BASED ON MULTI-SENSOR DATA FUSION TECHNIQUE. Chinese Journal of Mechanical Engineering.2003.3(28)
[10]钟玉利,韦洪喜.国内外大功率采煤机技术及自动操纵差距.煤炭技术.2005,24(6)
[11]张伟.基于采煤机DSP主控平台的自动调高预测控制:[学位论文].上海:上海交通大学2007
[12] Pinder M G.Automation on Longwall Faces System 70000.Ming Technology,1985.(7)
[13]李昌熙,沈立山,高荣.采煤机.北京:煤炭工业出版社,1983.4～5
[14]郝忠军.井下采煤技术及采煤工艺的选择.内蒙古科技与经济.2007.(13)
[15]傅兴夙.采煤概论.北京:煤炭工业出版社1983.79～80
[16]刘春生,侯清泉.采煤机滚筒自动调高记忆程控再现模式.煤矿机电.2004, 5
[17]李春华,刘春生.采煤机滚筒自动调高技术的分析.工矿自动化.2005.(4)
[18]谭翰墨.CNC机床数控系统插补算法的研究:[学位论文].广西:广西大学, 1999
[19]伍胡平,周亚军.数据采样插补算法的研究.组合机床与自动化加工技术.2008. (9)
[20]权秀敏,黄金伟,李众立,尹显明.数控插补算法实训系统的研究与设计.现代机械.2008. (5)
[21]王能超.数值分析简明教程.武汉:华中科技大学出版社,2002,36～38
[22]刘春生,杨秋,荆凯.采煤机滚筒调高记忆程控采样周期.煤矿机电.2006.(4)
[23]卢紫微,张燕.工程曲线的拟合算法分析与设计.现代制造工程.2009.(1)
[24]梅丽凤.单片机原理及接口技术.北京:清华大学出版社;北京交通大学出版社,2004 2～4
[25]王立权.机电控制与可编程序控制器.北京:中央广播电视大学.2001, 104～106
[26]刘艺.嵌入式系统设计大学教程.北京:人民邮电出版社,2008,3～4
[27]包乃兰.基于嵌入式PC104的矿山监测系统设计和开发:[学位论文].河北:河北工业大学2004
[28]王超,许化龙.基于VB和PC104的多路加速度计数据采集系统.弹箭与制导学报. 2008,28(2)
[29] PCM-3370 LV Intel Pentium III/ ULV Celeron PC/104+ CPU Module User’s Manual 2～5
[30] PCM-3718 Series PC/104 12-bit DAS Module with Programmable Gain User Manual 2～5
[31]滕旭,胡志昂.电子系统抗干扰使用技术.北京:国防工业出版社.2004, 1
[32]龚兰芳,张昱.基于电流环的高楼供水水位远程自动监测系统的研制.国外电子元器件.2006,3(3)
[33]王立华,韩敬东,邵玉芹,孟秀锦.基于DSP的4～20 mA电流环的设计.工矿自动化2008.4(2)
[34]徐瑛,叶璐.实现数据长线传输的方法.煤矿自动化. 2000(1)
[35]赵红菊,杨勇,王孝武.一种单相异步电动机调速系统.机械与电子.2004,(8)
[36]王栋.Visual Basic程序设计实用教程.北京:清华大学出版社.2002,6～7
[37]牛洪涛.工控软件的抗干扰设计.自动化博览. 1998,(3)
[38]葛长虹.工业测控系统的抗干扰技术.北京:冶金工业出版社. 2006.113～118
[39]刘士成,王信昌.工控软件的抗干扰设计的编程技术.地质找矿论丛. 2003,(18)增刊
[40]邢永会,周剑玲,张艳青.煤矿单片微机应用系统的软件抗干扰研究.河北煤炭.2000(3)