Research On Multiple Mechanism Cooperative Control System Of Intelligent Large Mining Electric Shovel

Intelligent large mining electric shovel integrates two functions of excavation and loading.It uses unmanned technology,which has high work efficiency,long service life,strong anti-interference ability,and can mine minerals effectively.This article intends to adopt siemens S7-1200 PLC as the computing platform,and use the lifting incremental encoder and the pushing incremental encoder to collect the pose data,and realize the control of the lifting motor and pushing motor of the controlled object,so that the bucket of the electric shovel runs smoothly along a given digging trajectory.The electric shovel control system part introduces the advantages of three-phase AC asynchronous motors compared to DC motors,which can be more widely used in industrial fields,and smooth stepless speed regulation can be achieved through frequency converter equipment.PROFINET is used for communication between PLC and frequency converter to realize the transmission of control commands and the feedback of motor operating data,which is convenient for controlling the speed and position of the motor.Aiming at the controlled object of the system,the particle swarm algorithm is used to identify the model parameters composed of the frequency converter,three-phase AC asynchronous motor and its mechanical structure,which solves the problems of low accuracy that may occur in traditional methods.The excavation trajectory planning and modeling of the electric shovel partly relies on the kinematic analysis of the working device of the electric shovel to solve the attitude and position of the bucket tooth tip relative to the body coordinate system,and realizes the shovel along the ideal trajectory through the excavation trajectory planning and curve fitting automatic digging improves the efficiency and precision of digging,and makes up for the shortcomings of low efficiency and many mistakes in traditional manual operation.At the same time,the dynamic model of the working device of the electric shovel was established,and the lifting force and pushing force of the lifting mechanism and the pushing mechanism were obtained according to the conservation of torque and the law of conservation of force,and corresponding simulation experiments were carried out.Electric shovel motion control and planning part introduces that the coordinated movement of the lifting mechanism and the pushing mechanism can be realized by controlling the length of the hoisting wire rope and the elongation of the stick.The shovel motion planning method and process are proposed,which converts the shovel tip position planning to the speed planning,and transfers the motion planning results from the host computer to the PLC to control the motion of the shovel experimental platform.Finally,a fuzzy adaptive PID control algorithm is used to control the length of the hoisting wire rope and the elongation of the stick respectively,so that the tip of the bucket can reach the preset digging trajectory point.Finally,through the system integration and physical experiments of the above three parts of research,the significance of the collaborative control strategy in the automatic excavation process of the electric shovel is verified,and a set of sensor data processing,the upper and lower computer communication and the motor speed and position control system that can be applied on the prototype experimental platform of the electric shovel.