Development Of The Control System For Experiment Platform Of Electric Mining Shovel

Electric mining shovel is the main large-scale equipment for open-pit mining,which plays a decisive role in the open-pit mining operations.However,the mining environment is terrible,the terrain is complex and the infrastructure is not complete,which impose high requirements on the skills and experience of electric mining shovel operators.Accidents happen frequently due to obstruction of operator's view or the improper operations,resulting in the high maintenance cost and shorter service life of electric mining shovel.Therefore,there is great theoretical and engineering value to research on automatic electric shovel instead of manual operation.In view of the current situation for production and operation of electric mining shovel in our country,according to the technical requirements proposed by the overall design scheme for automatic experiment platform of electric mining shovel,and on the basis of experiment platform built by our laboratory,the design of its control system was completed,including the construction of hardware circuit and the development of software system.Then,the hardware was connected and the software was debugged,at last,this paper carried out the relevant verification experiments,the main works completed are as follows:(1)The construction of the hardware circuit of the control system was completed.Firstly,the overall design of the control system was carried out,and then the power drive scheme of the electric shovel experiment platform was designed.The AC asynchronous motor was used as the power source,and it was speed-regulated through the inverter.Next,the position feedback scheme was designed and the sensors used were selected.According to the overall design requirements of the control system,the selection of the lower computer PLC and the upper computer IPC was completed.After that,the designs of the power supply and hardware wiring of the control system were carried out.Finally,the structural design and process design of the electric control cabinet were completed.(2)The software desigen of the lower-computer and the upper-computer as well as the communication between the lower-computer and upper-computer were completed.This paper Used the TIA software to program for the lower-computer PLC,and adopted the modular programming method to completing the programming of main program and function module programs;the Matlab software was used to complete the programming of the upper computer,including the design of the anti-collision system of the electric mining shovel,the design of the three-dimensional pose display system and the design of the control interface;the OPC communication connection between the upper-computer and lower-computer was completed,the Matlab software was set as the OPC client,and the PLC was set as the OPC server in order to realize the data transmission between the two.(3)The software and hardware of the control system was debugged,connected and tested,then the parameters of the converter was set to meet the requirements of the control system,at last,several verification experiments of the control system were carried out.The experiment results show that: the movements of the electric mining shovel experiment platform can be controlled by two means: the button control mode and the upper-computer control mode;meanwhile,the anti-collision system and position limiting system are reliable,which ensure the safety working of the electric mining shovel greatly;the 3D pose display system can show the excavating pose of the electric mining shovel accurately and reliably.