| This topic is an important part of the talent training project of Shanxi Province Postgraduate Joint Training Base(2018JD09)"the development of the electro-hydraulic control system of the hydraulic support for unattended working face".It is proposed to solve the problem of how to reproduce the underground unattended working face in the laboratory and monitoring center.Subject to the coal mine hydraulic support electro-hydraulic control system of fully mechanized working face as the research object,the virtual simulation technology applied in hydraulic support monitoring platform,based on the laboratory existing unattended face simulation experiment system,dynamic simulation platform for intelligent hydraulic support of fully mechanized working face as the goal,to develop a set of hydraulic support remote control and dynamic simulation system.To complete the dynamic simulation under the remote control of the support,realize the more intuitive and clear control of the hydraulic support.The main research contents of this paper are as follows:(1)through the Internet and library to consult a large number of references,analyses development trends at home and abroad,fully understand the current status of application of virtual reality technology in automated working face and the prospects for development,in contrast to EEP,Tiefenbach,Mei Ke day ma and zhengzhou coal mining machinery group,etc.The advantages and disadvantages of the products of the company,and carried on the on-the-spot investigation at the scene,Discussed with the workers of the fully mechanized mining team to clarify the objective problems existing in the underground field environment and the process of coal mining,and mastered the technical difficulties and functional requirements of the remote control and real-time reproduction system of the hydraulic support.On this basis,the overall framework of the system is set up,and the control objective,control strategy and corresponding technical route are determined.(2)The key to intelligent coal mining is to realize the remote monitoring of the hydraulic support.This paper is based on Lab View2018 to write each function subroutine in the remote control system of hydraulic support,including: The database of system parameters,control parameters and sensor parameters is established to realize the storage and management of a large number of data,and real-time data is provided for the remote monitoring and dynamic simulation function of the hydraulic support,so as to realize the online monitoring of the hydraulic support based on real-time data.The serial port transceiver program and data parsing program are written to provide data source for the system.According to the "three-machine linkage" control method of automatic mining of unmanned working face and the centralized control model of hydraulic support based on mining process,the control strategy under remote control mode and centralized control mode and the switching strategy among various control modes are formulated.The online modification program of parameters was written to improve the adaptability of the system under different geological environments and different mining processes.The historical data query program of hydraulic support is written based on the database,which provides data support for mastering the mining progress of working face and mining pressure analysis.(3)Real-time reproduction of hydraulic support in automatic working face is the key technology of dynamic simulation platform.In this paper,a dynamic simulation program of hydraulic support is written based on three-dimensional engine.Including: using Solid Works to draw a single hydraulic support three-dimensional model,and imported into Lab View2018 to complete the three-dimensional model of a single support in Lab VIEW display;The parent-child relationship of the moving components of the hydraulic support is constructed to form the master-slave coordination relationship among the components of the three-dimensional model of the support.The original motion parameters of the hydraulic support were obtained based on Solid Works,and the inverse kinematics attitude parameter equation of the hydraulic support was solved by random forest algorithm based on D-H modeling.The numbering program of hydraulic support under "Tree" control and the program of three-dimensional model arrangement of hydraulic support in fully mechanized mining face are programmed to realize the three-dimensional modeling of hydraulic support in the whole fully mechanized mining face.The control program of the 3D model of hydraulic support is written,and the motion control of the 3D model of hydraulic support is completed.(4)Reliable communication platform is the key link to realize remote control and dynamic simulation.In this paper,dual CAN is designed Bus communication circuit,and method based on dynamic priority allocation and time division multiplexing method to write the CAN communication protocol,and finally to complete communication,write the control instruction and status information data transmission,the final realization of the remote control of the hydraulic support based on sensor data driven and dynamic simulation of hydraulic support 3 d model.(5)system integrated debugging is inspection system function and the index is an important means of qualified,this paper set up the remote control of the hydraulic support and dynamic simulation system of experimental platform,and fully simulate the actual working condition of the environment,the various functions of the system debugging,and tested in a variety of control mode of hydraulic support in the dynamic simulation flat bracket simulation effect.The experimental results show that this system can realize the support of state monitoring,remote control,automatic control,parameter storage and online modification and more real-time switching control mode,etc,and can take advantage of the hydraulic support 3d model complete dynamic simulation under all kinds of control mode,can be real-time simulation of the operation of the hydraulic support of fully mechanized working face.The system has perfect function,stable operation,strong real-time performance and intuitive dynamic simulation effect,which can meet the design requirements and mining process requirements. |
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