CN-117046598-B - Control system of cantilever type crushing device

CN117046598BCN 117046598 BCN117046598 BCN 117046598BCN-117046598-B

Abstract

A control system of a cantilever type crushing device comprises a main controller and an electro-hydraulic control controller which is in communication connection with the main controller, wherein the main controller comprises an embedded type industrial controller, a wireless remote controller, a display screen and an operation panel, the electro-hydraulic control controller comprises an IO module, a programmable logic controller, a sensor and an electromagnetic proportional valve, an electro-hydraulic control process after the electro-hydraulic control controller runs a program carries out real-time monitoring on data sent by the sensor and the embedded type industrial controller, when driving space coordinate information sent by the main control program is acquired, the IO module determines a control quantity according to the space coordinate information and sensor data fed back in real time, and the electromagnetic proportional valve realizes closed-loop control on a hydraulic system of the cantilever type crushing device according to the control quantity. According to the scheme, feedback correction is carried out on the received driving space coordinate information through feedback data acquired by the sensor in real time, so that the control precision of the cantilever type crushing device is improved.

Inventors

YUE PENG
WANG PAN
SHEN FENG
FENG JINGPU
LI WANG
WANG JINPING

Assignees

宁夏天地奔牛实业集团有限公司

Dates

Publication Date: 20260505
Application Date: 20230830

Claims (9)

1. The control system of the cantilever type crushing device is characterized by comprising a main controller and an electro-hydraulic control controller which is in communication connection with the main controller, wherein the main controller comprises an embedded industrial controller, a wireless remote controller, a display screen and an operation panel, and the electro-hydraulic control controller comprises an IO module, a programmable logic controller, a sensor and an electromagnetic proportional valve; The embedded industrial controller monitors whether the operation panel, the wireless remote controller and the electrohydraulic control controller have data transmission or not through a main control process after running a main control program of the embedded industrial controller, and after a user issues an operation instruction through the wireless remote controller or the operation panel, the main control process analyzes the operation instruction and invokes a related internal module to execute target operation corresponding to the operation instruction; The sensor is arranged on the cantilever type crushing device and used for monitoring the position information of a mechanical arm of the cantilever type crushing device, an electrohydraulic control process after the electrohydraulic control process runs the electrohydraulic control program of the electrohydraulic control process monitors the sensor and data sent by the embedded type industrial controller, when the embedded type industrial controller does not send the expected coordinate information of the driving space or the configuration data, the electrohydraulic control process sends the acquired sensor data and the current state data of the electrohydraulic control controller to the main controller, when the electrohydraulic control process acquires the configuration data sent by the main controller, the electrohydraulic control process configures related modules according to the configuration data, when the electrohydraulic control process acquires the expected coordinate information of the driving space sent by the main controller, the electrohydraulic control process determines a control quantity according to the expected coordinate information of the driving space and the sensor data fed back in real time and sends the control quantity to the electromagnetic proportional valve so as to realize closed-loop control of a hydraulic system of the cantilever type crushing device; the operation control module is used for generating expected coordinate information of the driving space according to stepping operation of a user in a pose space, a joint space and the driving space and planning a path, or after a motion program is operated, the expected coordinate information of the driving space is sent to the electro-hydraulic control controller along with the operation of the motion program so as to execute the operation of the cantilever crushing device through the electro-hydraulic control process; The operation control module comprises a step controller, a DH parameter generator, a connecting rod constraint equation generator, a robot kinematics solver, a connecting rod kinematics solver, a movement program manager, a movement program compiler, a path planner and a virtual machine; When the operation control module is initialized, the mechanical parameters of the cantilever type crushing device are read from the main control configuration module and are respectively sent to a DH parameter generator and a connecting rod constraint equation generator, so that DH parameters of the cantilever type crushing device are generated by the DH parameter generator according to the mechanical parameters, and constraint equations of connecting rod structures for driving all joints are generated by the connecting rod constraint equation generator according to the mechanical parameters; The stepping controller is used for generating different expected coordinate information according to asynchronous operation executed by a user, wherein the stepping operation comprises pose space stepping operation, joint space stepping operation and driving space stepping operation; The robot kinematics solver and the connecting rod kinematics solver are used for converting the generated expected coordinate information into drive space expected coordinate information and pushing the converted drive space expected coordinate information to the communication module so as to be transmitted to the electrohydraulic control controller by the communication module; The exercise program management module is used for executing at least one operation of creating, editing and deleting an exercise program; The motion program compiler is used for compiling a program written by the motion program management module into byte codes, planning a track formed by a user through teaching of space point positions by the path planner, generating point positions and storing the point positions in the buffer area; When a user operates a running program, the system loads the compiled byte code into the virtual machine to run, and continuously transmits the driving space expected coordinate information generated after track planning to the electro-hydraulic control controller through the communication module in the running process.
2. The control system of the cantilever type crushing device according to claim 1, wherein the main controller is connected with the electro-hydraulic control controller through a TCP protocol, the embedded industrial controller is connected with the wireless remote controller through a wireless communication mode, is connected with the display screen through an LCD interface and is connected with the operation panel through an RS485 communication interface, and the IO module is connected with the programmable logic controller through an RS485 interface and is respectively connected with the sensor and the electromagnetic proportional valve through cables.
3. The control system of a cantilever crushing device according to claim 1, wherein the main control program further comprises a rights management module and a log module; The man-machine interaction module is used for receiving an operation instruction sent by a user from the operation panel or the wireless remote controller and feeding back display information to the display screen, wherein the display information comprises configuration information pushed by the main control configuration module, user information pushed by the authority management module, coordinate information and motion program information pushed by the operation control module, communication information pushed by the communication module and related logs pushed by the log module; The main control configuration module is used for carrying out parameter configuration on the communication module, the operation control module and the log module; The right management module is used for realizing the establishment of common user account passwords, the verification of the common user account passwords and the verification and operation authority assignment of the system user account passwords; the log module is used for executing operations related to the log; The communication module is used for receiving various sensor data from the electro-hydraulic control controller and position data of the hydraulic cylinder, sending the data to the man-machine interaction module so as to be displayed on the display screen and the wireless remote controller by the man-machine interaction module, and sending various sensor data and the position data of the hydraulic cylinder to the operation control module so as to process the data by the operation control module.
4. The control system of the cantilever crushing device according to claim 3, wherein the parameters for configuring the communication module by the master control configuration module comprise RS485 baud rate, check bit, data bit, stop bit, CAN interface mode, acceptance filtering, local IP of TCP protocol, subnet mask, default gateway and port number, the parameters for configuring the operation control module by the master control configuration module comprise mechanical parameters of the cantilever crushing device and speed of stepping motion, and the parameters for configuring the log module by the master control configuration module comprise display quantity of logs, path of log storage to files and deleting time of log files.
5. The control system of a cantilever crushing apparatus according to claim 1, wherein the step controller generates pose space desired coordinates when a user performs a pose space step operation Wherein x is the x-direction coordinate of the end effector of the cantilever type crushing device under a Cartesian coordinate system with the base as an origin, y is the y-direction coordinate of the end effector of the cantilever type crushing device under the Cartesian coordinate system with the base as the origin, and v xy is used for representing the pose space stepping speed; Or alternatively, the first and second heat exchangers may be, The step controller generates desired coordinates of the joint space when the user performs a step operation of the joint space Wherein j s is a boom rotation angle of the cantilever type crushing device, j b is a bucket rod rotation angle of the cantilever type crushing device, j e is an end effector rotation angle of the cantilever type crushing device, and v j is joint space stepping speed; Or alternatively, the first and second heat exchangers may be, The step controller generates the driving space desired coordinate information when the user performs the driving space step operation Wherein s s is the target displacement of a movable arm hydraulic cylinder of the cantilever type crushing device, s b is the displacement of a bucket rod hydraulic cylinder of the cantilever type crushing device, s e is the displacement of an end effector hydraulic cylinder of the cantilever type crushing device, and v is the driving space stepping speed.
6. The control system of the cantilever crushing apparatus according to claim 1, wherein the instructions for editing the movement program by the movement program management module include a joint movement instruction and a pose movement instruction; When executing the pose moving instruction, the user moves the cantilever type crushing device step by step through the pose space in the operation panel, and obtains corresponding Cartesian space coordinate information to be stored in the buffer area.
7. The control system of the cantilever crushing device according to claim 1, wherein the electro-hydraulic control program comprises a data transmission module, an electro-hydraulic control configuration module, an IO acquisition and control module and a hydraulic control module; The data transmission module is used for carrying out data transmission with the main controller, receiving the expected coordinate information of the driving space and the configuration data from the main controller, and sending real-time sensor data fed back by the sensor and position data representing whether the action of the hydraulic cylinder is in place or not to the main controller; The electro-hydraulic control configuration module is used for configuring relevant parameters in the hydraulic control module according to configuration data sent by the main controller; The hydraulic control module is used for generating a control signal through a fuzzy PID algorithm; The IO acquisition and control module is used for acquiring feedback signals of the sensor and pushing the feedback signals to the data transmission module and the hydraulic control module, and receiving control signals generated by the hydraulic control module and controlling the electromagnetic proportional valve through the IO module so as to drive the cantilever type crushing device to move through hydraulic pressure.
8. The control system of the cantilever crushing device according to claim 7, wherein the hydraulic control module further comprises a fuzzy controller and a PID controller, when the electrohydraulic control process collects configuration data, the hydraulic control module sets a fuzzy rule, membership parameters and a value range of PID parameters of the fuzzy controller, calculates a final PID parameter value by the fuzzy controller according to the received driving space expected coordinate information and pushes the PID parameter value to the PID controller, and the PID controller outputs a control quantity according to the pushed PID parameter value and generates a control signal of the control quantity to the IO collection and control module.
9. The control system of the cantilever crushing device according to claim 8, wherein the hydraulic control module determines an error and an error change rate according to the received driving space expected coordinate information and sensor data acquired by the sensor, and transmits the error and the error change rate to the fuzzy controller, and the fuzzy controller corrects PID parameters in real time according to a fuzzy rule to obtain the final PID parameter value.

Description

Control system of cantilever type crushing device Technical Field The invention relates to the technical field of coal mining and transportation, in particular to a control system of a cantilever type crushing device. Background In the current mechanized coal mining process, the shedding phenomenon of the bulk coal and the gangue is frequent, the efficiency and the safety of coal mine production can be seriously affected in a transportation link, and the current crushing mode of the bulk coal comprises, but is not limited to, crushing by manpower after shutdown, crushing by a transition section roller type bulk coal crushing device of a scraper conveyor and crushing by a cantilever crusher. The cantilever type crushing device is flexible, can improve the crushing efficiency to a certain extent, has certain advantages, and is a main device for crushing massive coal. However, the existing cantilever type crushing device is mainly based on a programmable logic controller or a singlechip for simple open-loop control, lacks a corresponding feedback unit, has lower control precision, and can only be controlled independently through the controller, so that the technical level requirement on operators is high, and accurate movement and positioning in a complex working condition environment can not be realized. Disclosure of Invention In view of the above, it is necessary to provide a control system for a cantilever crushing apparatus that can improve the control accuracy. The embodiment of the invention provides a control system of a cantilever type crushing device, which comprises a main controller and an electro-hydraulic control controller which is in communication connection with the main controller, wherein the main controller comprises an embedded industrial controller, a wireless remote controller, a display screen and an operation panel, and the electro-hydraulic control controller comprises an IO module, a programmable logic controller, a sensor and an electromagnetic proportional valve; The embedded industrial controller is used for monitoring whether the operation panel, the wireless remote controller and the electrohydraulic control controller have data transmission or not through a main control process after running a main control program of the embedded industrial controller, analyzing the operation instruction through the wireless remote controller or the operation panel by a user, calling a related internal module to execute target operation corresponding to the operation instruction, transmitting driving space coordinate information and configuration data after finishing the target operation to the electrohydraulic control controller, and feeding back feedback data representing finishing the target operation to the display screen and the wireless remote controller; The sensor is arranged on the cantilever type crushing device and used for monitoring position information of a mechanical arm of the cantilever type crushing device, the electro-hydraulic control process after the electro-hydraulic control process runs an electro-hydraulic control program of the programmable logic controller monitors data sent by the sensor and the embedded type industrial controller, when the embedded type industrial controller does not send the driving space coordinate information or the configuration data, the electro-hydraulic control process sends the collected sensor data and current state data of the electro-hydraulic control controller to the main controller, when the electro-hydraulic control process collects the configuration data sent by the main controller, relevant modules of the electro-hydraulic control process are configured according to the configuration data, when the electro-hydraulic control process collects the driving space coordinate information sent by the main controller, the IO module determines control quantity according to the space coordinate information and the sensor data fed back in real time, and sends the control quantity to the electromagnetic proportional valve so as to realize closed-loop control of a hydraulic system of the cantilever type crushing device. Preferably, the main controller is connected with the electro-hydraulic control controller through a TCP protocol, the embedded industrial controller is connected with the wireless remote controller through a wireless communication mode, is connected with the display screen through an LCD interface and is connected with the operation panel through an RS485 communication interface, and the IO module is connected with the programmable logic controller through an RS485 interface and is respectively connected with the sensor and the electromagnetic proportional valve through cables. Preferably, the main control program comprises a man-machine interaction module, a main control configuration module, a right management module, an operation control module, a log module and a communication module; The man-machine interaction module is use