Research On Electro-hydraulic Control System Of Hydraulic Support Based On CAN-BUS And Ethernet

Hydraulic support,the key equipment of coal mining,is utilized to ensure the efficiency and safe production.The intelligent control of hydraulic support is the precondition to realize the "less humanization" or "unmanned" mining in fully mechanized coal mining working face.To improve the intelligent level,the hydraulic support electro-hydraulic control system(HSEHCS)is developed at home and abroad.Aiming at the real-time poor communication and low intelligent control level of HSEHCS,the shield hydraulic support is studied to research the new HSEHCS and hydraulic support automatic alignment,as well as the communication mode based on the Ethernet and CAN-BUS.The main research work and new ideas are summarized as follows:(1)The mechanical structure,hydraulic system,working process and control deficiency of hydraulic support were analyzed to generate the basic function,remote monitoring and automatic alignment of HSEHCS,the general scheme of HSEHCS was built based on the Ethernet and CAN-BUS,as well as the strategy of automatic alignment control was proposed.(2)The hardware and software systems of support controller were designed.The neighbor communication protocol based on dynamic priority and remote communication protocol based on time division multiplexing were put forward according to the requirements of communications.The real-time communication performance of HSEHCS was improved.(3)The automatic alignment of hydraulic support strategy was researched based on the image recognition.The feature recognition algorithm was proposed based on fruit fly optimization.The mathematic model was built through the analysis on the motion rules of features in images.The detection method and revise strategy for support moving distance were designed to solve unaligned working face effectively.(4)The experimental platform of HSEHCS was built to test the function of HSEHCS.The field experimentation was conducted in Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment.The experiment results presented that all functions of HSEHCS satisfied the design requirements.