Design And Research On Control System Of Tramcar In Tunnel Environment

As the main transport equipment in the mining process,the tramcar undertakes the transport task of minerals and personnel.With the increase of the society’s demand for mineral resources,the amount of mineral exploitation is also increasing,and the mine environment is harsh,which has brought great harm to the body of the operator of the mine car,problems such as fatigue and inattention caused by long hours of driving increase the risk of a crash.Based on the advanced automatic control technology and environmental sensing technology,this paper designs the automatic control system of Tramcar in tunnel environment,in order to improve the automatization of Tramcar and realize mineral transportation in tunnel environment instead of manual operation.Based on Siemens Plc,this paper designs the automatic control system of Tramcar in tunnel environment.The control system applies computer image processing technology,sensor detection technology and automatic control technology,the automatic operation of the Tramcar and the detection of obstacles are realized.The system is composed of obstacle detection module,PLC automatic control module and Environment Information acquisition module.The design of the system adopts the structure of upper computer and lower computer,which consists of HMI man-machine interaction and Matlab obstacle detection.The finished work and research results are as follows:(1)Analyze the function demand of the Tramcar,design the overall scheme of the automatic control system of the Tramcar,the system is mainly composed of sensor information acquisition module,computer image processing module and man-machine Interactive PLC Control Module.According to the tunnel environment of the Tramcar,the hardware design and selection of the control system,the wiring of the Control Circuit and the circuit of the execution equipment are designed.(2)Based on the software platform of Siemens TIA Portal V15.1,the automatic control program is developed,including the system initialization program,the automatic running program,the environment information collection subprogram and the automatic running condition subprogram.At the same time,the simple HMI interface is configured on the software to complete the setting of parameters,the sending of operation instructions,the view of the running state of the mine car and the environment information.(3)On the Matlab Software Platform,the obstacle detection based on image information is completed,and the related algorithms of image processing technology are used,the image is processed by gray-scale processing,filter smoothing processing,image enhancement processing,image edge detection and morphological processing to complete the effective detection of obstacles.At the same time,PC station is configured and OPC server is configured in botu software,and OPC client model is built by Simulink in Matlab,and data transmission between Matlab and PLC is completed.