| As an important part of the complete set of fully mechanized mining equipment,shearer is one of the key equipment to achieve safe and efficient production in coal mine.Its automation level is the primary factor restricting the development of "unmanned" or "less humanized" in fully mechanized face.As the core component of the shearer,the controller has a comprehensive performance and function test before entering the formal operation,which is very important to ensure the reliability of the shearer.This paper studies the test technology of MG900/2210-WD shearer control system.In order to test the operation control and fault diagnosis function of shearer control system,the test method of shearer control system based on digital bus driver is studied.The master-slave communication module based on CANopen control network is designed.The real working condition and fault simulation system of shearer is developed.The main contents of this paper are as follows:(1)The basic structure and working mechanism of the shearer are analyzed.The composition of the shearer control system and the key components in the main control loop are studied.The digital bus network of shearer control system,the control substation of key components and its test driving scheme are designed.The test platform of shearer control system is constructed.(2)The basic principle of CANopen,communication object and object dictionary are analyzed.The master-slave communication model of shearer control system based on Can Festival protocol stack is established.The heartbeat simulator,master-slave substation object dictionary,PDO configuration table,substation address allocation table and COB-ID communication identifier allocation table based on Ci A 301 communication sub protocol and device sub protocol are designed.The connection scheme between the shearer control system and the test platform is given.(3)The parametric configuration files of mechanical structure,electric drive components,motor sensor and operation panel of shearer are established.The simulation module of shearer remote control operation station is designed,and the function of driving shearer controller by simulating sending operation instructions is realized.The driving modules of speed linear fitting,temperature change fitting and rocker arm rising fitting under typical working conditions are given.The driving software of test platform based on UML is developed.(4)The interactive interface of web page and three-dimensional model of shearer based on Unity 3D are designed.The fault data simulation software is developed.The test experiment of shearer control system is carried out in Xi'an Coal Mine Machinery Co.,Ltd.The control and protection functions of MG900/2210-WD electric haulage shearer controller are tested.The test platform is verified by experiments,which lays a good foundation for further function improvement and performance improvement of shearer control system.There are 52 figures,26 tables and 91 references in the thesis. |
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