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英文原文
One Realization Method for Remote Control of Hydraulic Support of the Electro-hydraulic in Coal Mine Face
Abstract—The remote control part of the system can set parameters such as operating mode and so on, while real-time recording and displaying running state of hydraulic supports, preserving historical data. It gathers control, data recording, data query and intelligence analysis as a whole, communicating with underground with RS485 and CANBUS communication interface functions, through PROFIBUS, MODBUS, CANBUS and other real-time protocols, in order to achieve continuous data acquisition and control, namely, to achieve unattended automatic operation, so that unmanned in the major coal production links to attain truly safe production.
I. Introduction
Since the inception of mechanized mining technology, all electro-hydraulic control system of hydraulic supports depend on imports. But the high cost and price, long supply cycle, technological security, untimely service, unopened agreement severely restrict the development of China's coal industry, and even become into bottleneck problems of the developing highintensive production to achieve unmanned exploration despite its excellent performance and technical support in enhancing the country's coal production and efficiency. And coal is the main body of China's primary energy, accounting for 70% of total energy. "National Plan for long-term scientific and technological development" explicitly pointed out that "we should vigorously develop coal clean, efficient, safe mining and utilization technologies, and strive to reach the international advanced level." Around this development strategy, "intensive and efficient coal mining equipment and technology, automation and intelligent technology of coal production, coal mine safety production technology" has become a priority theme of development in China, and coal integrated mechanization and automation technology are the key link to achieve safe and efficient coal mining, while the hydraulic supports electro-hydraulic automatic control system is an important part of the link.
Hydraulic supports electro-hydraulic control system is a distributed control system. There are these hydraulic support electro-hydraulic control system: DBT's PM4, MARCO company's PM31 and JOY's RS20-type and so on. The first fully mechanized caving hydraulic supports electro-hydraulic control system designed by the Coal Science Research Institute (Heaven and Earth Science and Technology Co., Ltd.) and the German Make has been running in Yanzhou Coal Mine. The system represents latest development level of the current electro-hydraulic control system, but the process of localization has not been yet completed.
To this end, research for hydraulic supports electrohydraulic automatic control system with independent intellectual property has not only of great practical significance, but also has far-reaching historical significance.
Hydraulic supports electro-hydraulic automatic control system is one network monitoring and control system with local control, LAN control and remote control , including ground control system, central control system, frame controller, network communication systems and power supply. The method resolves the ground control issues of hydraulic supports electro-hydraulic control system, which is remotecontrolled part and the master part of unmanned watching mining.
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II. CONTENT DESCRIPTIONII
Implementation platform of this method is PowerBuilder. It can connect with any database, and has very strong applicability. Because of its powerful Data Window, adding a flexible SQL statements it provides a great deal of flexibility data processing. In the PowerBuilder development environment, user interface design really achieve a "WYSIWYG", allowing programmers quickly to design their preferred interface in the interface design. Its rich graphical interface makes programming results even more icing on the cake. It’s unique characteristics of database management and friendly interface features with other external things, can widely use resources of other aspects, such as the tripartite control, etc.This system has used external things such as serial communication, OLE, OLE Database Blob features, and achieved serial communication functions with protocols such as MODBUS, PROFIBUS, and CANBUS, and completed the tasks of database dynamic storage, display graphics. In particular, it’s data pipeline makes data transmission from different databases on the Internet unique, data sharing between different database convenient, interfaces with other systems easily.
A The remote transmission method for hydraulic support control parameters and operating commands
This method can remoelysend a hydraulic support control parameters, control commands and operational commands, datasend from IPC to the end controller. Then the end controller will collate the data and pass to each controller's serial port in master-slave mode such as Figure 1.
There is the interface for sending long control parameters and operating commands. To send control parameters, first, type control parameters into the single editor and click "Parameter Send" with the mouse. To send operation commands, we must first specify the acting support frame, and then click the keyboard in the below right-half plane to select the function for support frame to complete, finally click "Operation Send". After receiving orders to send, the system must first change control parameters or operation commands red in character into the integer, because communications conduct crc checksum, and there is not XOR function in PowerBuilder. The changed integer are translated into binary code, and XOR function is achieved using binary characters to complete the crc checksum procedure. The implementation procedures are as follows:
data1="1010000000000001"http://a001H
crc1="1111111111111111"http://FFFFH
for l=1 to i
sj1=sj[l]
crc11=right(crc1,8)
b1=""
for k=8 to 1 step -1
crc111=Mid(crc11,k,1)
sj11=Mid(sj1,k,1)
if crc111=sj11 then
b1="0"+b1
else
b1="1"+b1
end if
next
crc1=left(crc1,8)+b1// Differences with the first L items of
// data or results
for k=1 to 8
crc11="0"+left(crc1,15)// Shift to the right one
crc111=right(crc1,1)// Shifted to the right out of a
crc1=crc11
if crc111="0" then
else
b1=""
for bb=16 to 1 step -1
crc111=Mid(crc1,bb,1)
sj11=Mid(data1,bb,1)
if crc111=sj11 then
b1="0"+b1
else
b1="1"+b1
end if
next
crc1=b1
end if
next
next
i=i+1
sj[i]=right(crc1,8)
i=i+1
sj[i]=left(crc1,8)
Where, i is the number to send the data, the last two sj [i] (left (crc1, 8), right (crc1, 8)) shall be the 16 bit checksum. And then the serial port would be started to complete serial communication with protocols such as MODBUS, PROFIBUS, and CANBUS. First, initialize the serial port:
ole_1.object.commport=1 //
ole_1.object.settings="9600,N,8,1"
ole_1.object.inputlen=1
ole_1.object.inputmode=1
ole_1.object.portopen=true
Second, the address, command, the register read address, the register read number, verification codes in hexadecimal form are all sent out. Because there is no hexadecimal number representation in PowerBuilder, this system changes data into binary through transformation between the decimal and character, and then writes them to the serial port in the form of large binary text variables (blob). Realize combination of: b_mode = b_mode + blob (CHAR (nn [i])), using the variablesof blob type. when data sent is zero, b_mode = b_mode + b_00. Thus ole_1.Object.Output = b_mode successfully sent data to the serial port. Third, after the end controller receives the commands, it sends the instruction down to the corresponding hydraulic supports to make them complete the required functions on the one hand, and the other hand, it returns response messages notifying the IPC that it has received the command. Fourth, when the data dd is red from the serial port, it will be transformed into a form appropriate for arithmetic calculations by (asc (dd)).
B. the implementation method for real-time condition monitoring of hydraulic supports in working face
In practice, the number of hydraulic support needed varies with the working face in mining coal, generally between 130 to 200, so it will be transmitted to end controller and the hydraulic support controllers as a controller parameter before work of mining. The real-time monitoring main interface for hydraulic supports in the working face is shown as Figure 2, in which, all the small long box frame mean hydraulic supports.
The program automatically determine theirs location and width, and assign ordinal number to them according to the screen width and the number of. The number of the small long box frame is n times of the number of hydraulic supports; n is the number of information kinds reflecting the states of hydraulic supports. As the number of hydraulic supports and information is very large, there are 600 long-boxs or more in the interface. So it is impossible to program the script one by one, and also the setting. And the macro substitution must be used. Since PowerBuilder can not achieve macro substitution, the system successfully realize the macro substitution by identifying in turn RichTextEdit controls combined with the window function. The script is as follows:
Environment my＿syrteem
Int li＿ScreenWidth, li＿ScreenWidth GetEnvironment(my＿syrteem)// Get the total width and length of the screen
li＿ScreenWidth = PixelstoUnits ( my＿syrteem. ScreenWidth, XPixelstoUnits!)
li＿ScreenHeight = PixelstoUnits (my＿syrteem. ScreenHeight, XPixelstoUnits!)
this.Move((li＿ScreenWidth-this.Width)/2,(li＿ScreenHeight -
this.Height - 600)/2 )
ss=integer((w＿jc1t2.Width)/(zjs1+1))
s1=rte_1.x
s2=rte_201.x
s3=rte_401.x
integer li_count,sss1
integer li_i,sr1,sr2
li＿count = upperbound(parent.control[])//Access to window
//controls the number of in vivo
richtextedit sr,srr,srr1,srr2,srr3// Statement richtextedit text
//object, used to access the window controls in vivo
FOR li_i = 1 TO li_count
CHOOSE CASE parent.control[li_i].typeof()
//parentBehalf of Form
case richtextedit!// If the control is richtextedit text
sr=parent.control[li_i]// Get the control reference
sss1=8
sr.width=ss-sss1
sr1=len(parent.control[li_i].classname())
sr1=sr1-4
sr2=integer(mid(parent.control[li_i].classname(),5 ,sr1))
if sr2<=200 then
sr.tag=string(sr2)
if sr2>(zjs1 +1 )then
sr.visible=false
end if
sr.x = s1+ss*(sr2 - 1)
else
if sr2>200 and sr2<=400 then
sr.tag=string(sr2 - 200)
if sr2>(zjs1+201) then
sr.visible=false
end if
sr.x = s1+ss*(sr2 - 200 - 1)
else
if sr2>400 and sr2<=600 then
sr.tag=string(sr2 - 400)
if sr2>(zjs1+401) then
sr.visible=false
end if
sr.x = s1+ss*(sr2 - 400 - 1)
end if
end if
end if
end CHOOSE
next
In the interface there are PowerBuilder's RichTextEdit controls(small long box frame) expressing hydraulic support, which has getfocus and mousemove events. When the mouse points to the small box, mouse event of pointed RichTextEdit control happens, showing hydraulic support number. If you want to understand the detailed running states of a hydraulic support, you can click this small long box frame, a window with tables, graphs and curves and other forms of information will pop up to display this bracket operation. There are threelines of small box in the interface, the first line of which show locality of the Shearer, the graphics expressing Shearer automatically moving to the position of the small box changing red; the second line show overrun state of Shearer, the small box becoming red; the third line show the STOP state of Shearer, the small box flashing red and yellow.
The system can real-time monitor and long-term record the analog such as inferior vena pressure, stroke length and end length, as well as digital such as 1 grade care help, 2 grade care help, emergency stop, spray, the location of Shearer.
III. CONCLUSION
The system can display and reflect the running status of hydraulic supports with curves, histograms and pie charts, set control, data recording, data query and intelligence analysis as a whole, have a higher intelligence level. It is a kind of effective method for the long-range electro-hydraulic control for hydraulic support in the coal mine working face, At present it have been put into trial operation.
REFERENCES
[1] Sun Han fang, Xu Aiqing ,“Principle and application of MCS-51/96 serials SCM (Revision), ” Beijing Aviation University Publisher.
[2] Wang Rong, ect.,“Detailed explanations for Power Builder application and developed technology,” Electron Industry Publisher
[3] Fan Linan ect.,“SQL Server 2000 Practical Tutorial,” Tsinghua University Press, 2004,2
[4] SongLei, ect., “One hundred practical Programming examples with PowerBuilder10, ” Tsinghua University Press, 2005,9
[5] Liu Zhiming, ect., “Database development key technologies and application examples of PowerBuilder, ” Posts & Telecom Press, 2004,5
[6] SunXing,“Serial Communication Technology Application in PowerBuilder,” Datbase Microwave Radio and Television Station，F(xiàn)riend of Science Amateurs, 2009,6
[7] Xiang Yu, “Research of Using MSComm Control to Communicate in PowerBuilder, ” Engineering Technology, 2008,7
中文譯文
回采工作面上遠(yuǎn)程控制電液壓支架的實(shí)現(xiàn)方法
摘 要 遠(yuǎn)程控制系統(tǒng)的一部分可以設(shè)置參數(shù),比如操作模式等,而實(shí)時記錄和顯示運(yùn)行狀態(tài),保存了液壓支架的資料。它集中控制、數(shù)據(jù)錄入、數(shù)據(jù)查詢和情報(bào)分析作為一個整體,溝通與地下采用RS485通信接口功能和CANBUS,通過PROFIBUS、協(xié)議、CANBUS其它實(shí)時協(xié)議,以實(shí)現(xiàn)持續(xù)的數(shù)據(jù)采集和控制,即實(shí)現(xiàn)無人值守自動操作,使無人在主要的煤炭生產(chǎn)環(huán)節(jié)達(dá)到真正的安全生產(chǎn)。
1． 介紹
自機(jī)械化開采技術(shù)創(chuàng)建以來，所有電液壓支架的控制系統(tǒng)都依賴進(jìn)口。盡管在提高中國的煤產(chǎn)量和效率方面，其有優(yōu)異的性能和技術(shù)支持，但是成本高、周期長、價(jià)格,供應(yīng)服務(wù),技術(shù)安全協(xié)議,不合時宜的保質(zhì)期嚴(yán)重地制約了我國煤炭產(chǎn)業(yè)發(fā)展,甚至成為發(fā)展高度集約化生產(chǎn)以實(shí)現(xiàn)無人駕駛的探索的瓶頸問題。而煤炭是中國的主體的主要能源,占總能量的70%?！皣议L期科學(xué)和技術(shù)發(fā)展計(jì)劃”明確指出,“我們應(yīng)該大力發(fā)展煤的潔凈、高效、安全地挖掘和利用技術(shù),力爭達(dá)到國際先進(jìn)水平?！痹谥袊瑖@這些發(fā)展戰(zhàn)略“集約化和高效的煤礦設(shè)備和技術(shù)、自動化和智能化技術(shù)的煤炭生產(chǎn)、煤礦安全生產(chǎn)技術(shù)”已成為發(fā)展的最重要的主題,而且煤炭綜合機(jī)械化和自動化技術(shù)是達(dá)到安全、高效的煤礦的關(guān)鍵環(huán)節(jié),,而液壓支架的電液自動控制系統(tǒng)是該連接的重要組成部分。
液壓支架電液控制系統(tǒng)是一個分布式控制系統(tǒng)。液壓支架的電液控制系統(tǒng)有這些: DBT's PM4，MARCO company's PM31和JOY's RS20-type等等。由煤炭科學(xué)研究院(天堂和地球科學(xué)與科技有限公司)和德國人設(shè)計(jì)的第一根完全綜采放頂煤液壓支架的電液控制系統(tǒng)已經(jīng)在兗州煤礦運(yùn)行。該系統(tǒng)代表了當(dāng)前電液控制系統(tǒng)的最新發(fā)展水平,但是這一過程還尚未完成。
為此,研究具有自主知識產(chǎn)權(quán)的液壓支架電液自動控制系統(tǒng)不僅有重要的現(xiàn)實(shí)意義,而且具有深遠(yuǎn)的歷史意義。
液壓支架電液自動控制系統(tǒng)是一個網(wǎng)絡(luò)監(jiān)控系統(tǒng)與當(dāng)?shù)氐目刂?、局域網(wǎng)(LAN)控制和遠(yuǎn)程控制,包括地面控制系統(tǒng)、中央控制系統(tǒng)、框架、網(wǎng)絡(luò)通訊系統(tǒng)的控制器和電源供應(yīng)器。該方法解決了液壓支架電液控制系統(tǒng)的遠(yuǎn)程控制和主要控制部分的地面非人工勘察挖掘控制問題。無人在這個,采用改進(jìn)的2003年和挽救了MS Word和6.0/95”字97-2003 - RTF”為PC的模板,為作者提供了大部分的電子版本的論文的規(guī)格。所有標(biāo)準(zhǔn)論文的組成部分被規(guī)定為三個原因:
(1)個人論文時使用方便的格式,
(2)自動符合促進(jìn)并行或后期生產(chǎn)電子產(chǎn)品的電子要求,
(3)在一個會議論文集的風(fēng)格整合上。內(nèi)部風(fēng)格類型的例子在這個文件提供和確認(rèn)以斜體顯示類型在括號,利潤,柱之間的間距,寬度,和類型,證明了典范。
II.內(nèi)容描述
該方法的實(shí)施平臺是PowerBuilder。它可連接任何的數(shù)據(jù)庫,并有很強(qiáng)的適用性。由于其強(qiáng)大的數(shù)據(jù)窗口,更增添了一種靈活的SQL語句,通過贊助支持國家“十一五”計(jì)劃(2007BAK29B0-5)和進(jìn)行數(shù)據(jù)處理陜西科技重點(diǎn)攻關(guān)項(xiàng)目公司的蘇姍·戴衛(wèi)斯(2006031153-01)，它提供了大量的靈活性設(shè)計(jì)。他們在優(yōu)先考慮界面的界面設(shè)計(jì)。其豐富的圖形接口使編程的結(jié)果更錦上添花的蛋糕。它獨(dú)特的特征和數(shù)據(jù)庫管理的友好的界面特征,可以與其他外在的一切事物廣泛使用資源的其他方面,比如三方控制系統(tǒng)等組成。該系統(tǒng)具有使用外在的一切事物,如串行溝通,奧立,索爾斯克亞的特點(diǎn),并對數(shù)據(jù)庫的斑點(diǎn)實(shí)現(xiàn)串行通信協(xié)議等功能作為紡織、PROFIBUS和CANBUS,完成了任務(wù)的動態(tài)存儲、顯示圖形數(shù)據(jù)庫。在尤為重要的是,它使得數(shù)據(jù)傳輸?shù)臄?shù)據(jù)從管道在互聯(lián)網(wǎng)上不同的數(shù)據(jù)庫之間的數(shù)據(jù)共享獨(dú)特,不同的數(shù)據(jù)庫方便,接口與其他系統(tǒng)很容易。
答:遠(yuǎn)程傳輸方法,液壓支架控制參數(shù)和運(yùn)行的命令該方法可以遠(yuǎn)程發(fā)送一個液壓支架控制參數(shù)、控制命令和工作指令、數(shù)據(jù)發(fā)自IPC到底控制器。然后后,是后期控制器將整理數(shù)據(jù)并通過每個控制器的串行端口。主從模式如圖1。
有界面發(fā)送長長的控制參數(shù)和運(yùn)行的命令。發(fā)送控制參數(shù),首先,類型控制參數(shù)為簡單的單編輯器和點(diǎn)擊“參數(shù)發(fā)送”用鼠標(biāo)。發(fā)送操作命令,我們首先必須指定代理支持框架,以及然后點(diǎn)擊鍵盤在以下right-half去選擇支撐結(jié)構(gòu)的功能,最后點(diǎn)擊完成“操作發(fā)送”。接到命令送,系統(tǒng)首先要改變控制參數(shù)和運(yùn)行的命令紅色的角色轉(zhuǎn)換到整數(shù),因?yàn)橥ㄓ嵾M(jìn)行循環(huán)冗余檢查,沒有XOR函數(shù)文件等。變化了的整數(shù)轉(zhuǎn)化為二進(jìn)制和XOR函數(shù)代碼,就要用到的二進(jìn)制字符完整的循環(huán)冗余檢查程序。
data1="1010000000000001"http://a001H
crc1="1111111111111111"http://FFFFH
for l=1 to i
sj1=sj[l]
crc11=right(crc1,8)
b1=""
for k=8 to 1 step -1
crc111=Mid(crc11,k,1)
sj11=Mid(sj1,k,1)
if crc111=sj11 then
b1="0"+b1
else
b1="1"+b1
end if
next
crc1=left(crc1,8)+b1// Differences with the first L items of
// data or results
for k=1 to 8
crc11="0"+left(crc1,15)// Shift to the right one
crc111=right(crc1,1)// Shifted to the right out of a
crc1=crc11
if crc111="0" then
else
b1=""
for bb=16 to 1 step -1
crc111=Mid(crc1,bb,1)
sj11=Mid(data1,bb,1)
if crc111=sj11 then
b1="0"+b1
else
b1="1"+b1
end if
next
crc1=b1
end if
next
next
i=i+1
sj[i]=right(crc1,8)
i=i+1
sj[i]=left(crc1,8)
從串行端口,然后會開始完整連貫良好的協(xié)調(diào)和溝通。首先,初始化一個串行端口:
ole_1.object.commport=1 //
ole_1.object.settings="9600,N,8,1"
ole_1.object.inputlen=1
ole_1.object.inputmode=1
ole_1.object.portopen=true
二、地址、指揮、寄存器的地址、閱讀登記號碼,驗(yàn)證代碼閱讀的十六進(jìn)制的形式都發(fā)出去。因?yàn)闆]有十六進(jìn)制數(shù)表示,這一制度的變化在文件數(shù)據(jù)通過變換關(guān)系的二進(jìn)制小數(shù)與他們的性格,并編寫的串口的形式大二進(jìn)制文本變量(斑)。實(shí)現(xiàn)組合的:
b_mode = b_mode +blob(CHAR(nn [i]) 利用變量發(fā)送數(shù)據(jù)時的是零,b_mode = b_mode +b_00。 因此ole_1.Object.Output = b_mode成功發(fā)送數(shù)據(jù)到串行端口。第三,結(jié)束后的控制器接收它發(fā)出了命令,指令下到相應(yīng)的液壓支架使他們完成要求的功能,另一方面,另一方面返回響應(yīng)消息通知IPC收到命令。第四,當(dāng)數(shù)據(jù)從dd是紅色的從串行端口,它將會被轉(zhuǎn)換成一種合適的進(jìn)行算術(shù)計(jì)算,通過(asc(dd))。
B為即時條件下的實(shí)現(xiàn)方法監(jiān)測液壓支撐于工作面。
在實(shí)踐中,液壓支架所需的數(shù)量也各不相同，在與工作面的開采煤炭,一般之間130分到200,所以它將被傳送給控制器和結(jié)束，液壓支架控制器作為控制器參數(shù)之前工作的挖掘。主要接口進(jìn)行實(shí)時監(jiān)控液壓支架工作面的表現(xiàn)為圖2。
程式會自動確定他們的位置和寬度,并指派序數(shù)性,他們按照屏幕寬度和數(shù)目。小的數(shù)目長盒子框架是n次的液壓支架的數(shù)量;n是大量的信息種類反映美國的液壓支架。隨著數(shù)量的液壓支架和信息是非常大的,有600 long-boxs甚至更多接口。自從不一定能達(dá)到宏帶入文件,
Environment my＿syrteem
Int li＿ScreenWidth, li＿ScreenWidth GetEnvironment(my＿syrteem)// Get the total width and length of the screen
li＿ScreenWidth = PixelstoUnits ( my＿syrteem. ScreenWidth, XPixelstoUnits!)
li＿ScreenHeight = PixelstoUnits (my＿syrteem. ScreenHeight, XPixelstoUnits!)
this.Move((li＿ScreenWidth-this.Width)/2,(li＿ScreenHeight -
this.Height - 600)/2 )
ss=integer((w＿jc1t2.Width)/(zjs1+1))
s1=rte_1.x
s2=rte_201.x
s3=rte_401.x
integer li_count,sss1
integer li_i,sr1,sr2
li＿count = upperbound(parent.control[])//Access to window
//controls the number of in vivo
richtextedit sr,srr,srr1,srr2,srr3// Statement richtextedit text
//object, used to access the window controls in vivo
FOR li_i = 1 TO li_count
CHOOSE CASE parent.control[li_i].typeof()
//parentBehalf of Form
case richtextedit!// If the control is richtextedit text
sr=parent.control[li_i]// Get the control reference
sss1=8
sr.width=ss-sss1
sr1=len(parent.control[li_i].classname())
sr1=sr1-4
sr2=integer(mid(parent.control[li_i].classname(),5 ,sr1))
if sr2<=200 then
sr.tag=string(sr2)
if sr2>(zjs1 +1 )then
sr.visible=false
end if
sr.x = s1+ss*(sr2 - 1)
else
if sr2>200 and sr2<=400 then
sr.tag=string(sr2 - 200)
if sr2>(zjs1+201) then
sr.visible=false
end if
sr.x = s1+ss*(sr2 - 200 - 1)
else