The Hybrid Automaton Modeling And Risk Analysis Research On The Unmanned Driving System Of Mine Locomotive

The production efficiency and automatic level can be promoted due to the development and use of the unmanned driving system of mine locomotive. And the number of underground workers can be reduced. Then the other mine accident caused casualties can be reduced which can create tremendous economic and social benefits.At present, lacking of in-depth study on the unmanned driving system of mine at home and abroad not to mention the job about its running state model and security analysis. This paper targets the remote control unmanned driving system of mine locomotive based on mobile broadband stream media network. The dynamic evolution process of running locomotive can be modeled using hybrid automation theory on the basis of analyzing the organizational structure, executive function and running processes. The feasibility of the design stage can be evaluated and proved efficiently using the fault tree analysis to analyze system security’s main factors risks. Then the accident rates and hazards in system running stage can be reduced.The main jobs of this paper are as followed:(1) Proposing the system overall framework based on mobile broadband stream media network. It is mainly composed of auto-control locomotives, broadband stream media networks, running sever of locomotives, remote control consoles, remote operating boxes, remote hoppers and scalers. The roadway of underground mine locomotive can be operated safely and efficiently using remote control driving with the support of transportation scheduling system.(2) The relevant important theory and method are referred including hybrid automaton theory, the basic concept of safety and risk, fault tree analysis.(3) Proposing the state of locomotive evolving model based on hybrid automaton. The running of unmanned driving mine locomotive notably shows hybrid feature of continuity and discreteness coexisted. And the process of locomotive state changing can be described accurately by hybrid automaton. Firstly, the time evolutionary process model can be set which following the safe and efficient driving principle. Secondly, the event of each turnout signal light state can be defined which affects the state evolution of locomotive and the recursive algorithm of conversion time in locomotive running state can be given in the different types of events. Then the locomotive running state of hybrid automaton model can be obtained.Lastly, the validity and completeness of model can be verified by numerical results in different situation.(4) Proposing the system risk analysis model based on fault tree analysis. Firstly, each component fault model effects analysis table be made according to the main three risk resources which are remote control console, mobile broadband stream media network and mine locomotive. Secondly, the system fault tree model of "runaway mine locomotive"event be made and the minimal cut sets be obtained. Lastly,the result of criticality analysis about basic event structure can be obtained which shows the main reason of causing system risk accident is the components fault of key information transportation.