CN114607430A - Electro-hydraulic control system based on bus type electromagnetic valve - Google Patents

Abstract

The application provides an electricity liquid control system based on bus type solenoid valve, wherein, the system includes: the support control system comprises a main control computer, a plurality of support controllers and bus type electromagnetic valves, wherein the plurality of support controllers are connected through a CAN (controller area network) bus, and are all connected with the main control computer through the CAN bus; the bus type electromagnetic valve is used for receiving a control instruction of the support controller and controlling the corresponding main valve core to act so as to realize the action control of the support hydraulic cylinder. According to the scheme of the application, the multi-level distributed control system is realized, more accurate control and fault detection can be realized, and functions of simplifying wiring, elements, expanding functions and the like are realized.

Description

Electro-hydraulic control system based on bus solenoid valve

technical field

The application relates to the technical field of electro-hydraulic control systems, and in particular, to an electro-hydraulic control system based on a bus-type solenoid valve.

Background technique

The hydraulic support electro-hydraulic control system is used to control the action of the hydraulic support of the underground working face, and cooperate with the shearer and scraper conveyor to realize automatic comprehensive coal mining. In recent years, with the deepening of the understanding of the coal mining process, the hydraulic support electro-hydraulic control system has been improved in terms of control procedures, electrical and added functions.

At present, the main application of the hydraulic support is the electromagnetic switch valve, which needs to be equipped with a solenoid valve driver. The solenoid valve driver outputs multiple cables, which are respectively connected with the solenoid pilot valve to form a one-to-one correspondence. This solution brings about the problems of many lines and complicated wiring. In addition, with the improvement of the system, there is a need to configure electro-proportional valves and sensor components on the hydraulic support. The current electro-hydraulic control system of the hydraulic support is difficult to realize the expansion of hydraulic components, sensors and complex functions due to the limitation of the number of interfaces and wiring methods. .

SUMMARY OF THE INVENTION

The present application proposes an electro-hydraulic control system based on a bus-type solenoid valve.

The embodiment of the first aspect of the present application proposes an electro-hydraulic control system based on a bus-type solenoid valve, including:

Main control machine, multiple bracket controllers, bus type solenoid valve;

Wherein, the plurality of bracket controllers are connected through the controller area network CAN bus, and the plurality of bracket controllers are all connected with the main control machine through the CAN bus;

The main control machine is used to receive the control instructions of the ground computer, and send the control instructions to the bracket controller;

The bracket controller is used to receive the control command, control the corresponding bracket according to the control command, and send the state information of the corresponding bracket to the main control machine;

Wherein, each of the bracket controllers is connected with a plurality of bus-type solenoid valves through a CAN bus, and the multiple bus-type solenoid valves are connected through a CAN bus;

The bracket controller is specifically configured to receive the control command, and control the bus-type solenoid valve according to the control command, so as to realize the action control of the bracket;

The bus-type solenoid valve is used to receive the control instruction of the support controller, and control the action of the corresponding main spool, so as to realize the action control of the support hydraulic cylinder.

Optionally, the bracket controller is further configured to, in the case of a failure of the corresponding bracket, send fault information to the main control computer, and perform emergency control on the corresponding bracket;

The main control computer is further configured to generate corresponding processing instructions according to the fault information, send the processing instructions to the support controller, and send the fault information to the ground computer, so that the The ground computer performs a fault alarm according to the fault information.

Optionally, the bus-type solenoid valve is further configured to determine whether the corresponding bracket is faulty, and when the corresponding bracket is faulty, send fault information to the bracket controller.

Optionally, the bus-type solenoid valve includes:

Bus signal transceivers, microprocessors and control circuits, electromechanical converters, hydraulic pilot stages and hydraulic power stages;

Wherein, the bus signal transceiver is connected with the microprocessor and the control circuit, the microprocessor and the control circuit are connected with the electromechanical converter, the electromechanical converter is connected with the hydraulic pilot stage, the a hydraulic pilot stage is connected to the hydraulic power stage;

The bus signal transceiver is used to receive the control instruction sent by the stand controller through the CAN bus, and send the control instruction to the microprocessor and the control circuit;

The microprocessor and the control circuit are used for generating an electrical signal according to the control instruction, and sending the electrical signal to the electromechanical converter to drive the electromechanical converter;

the electromechanical converter for converting the electrical signal into a mechanical signal and sending the mechanical signal to the hydraulic pilot stage;

the hydraulic pilot stage for converting the mechanical signal into a hydraulic signal and sending the hydraulic signal to the hydraulic power stage;

The hydraulic power stage is used to perform power amplification processing on the hydraulic signal, so as to output a medium to the hydraulic cylinder according to the hydraulic signal after the power amplification processing.

Optionally, it is characterized in that the microprocessor and the control circuit are further configured to receive detection information sent by a sensing device, wherein the sensing device is used to detect the displacement signal of the electromechanical converter, the hydraulic pilot displacement signal and output signal of the hydraulic power stage, displacement signal and output signal of the hydraulic power stage;

The microprocessor and the control circuit are also used for judging the stand state according to the detection information, and sending the stand state to the stand controller through the bus signal transceiver and the CAN bus;

The microprocessor and the control circuit are also used for judging whether a fault has occurred according to the detection information, and in the case of a fault, determining the fault information, and sending the fault information to the bus signal transceiver and the CAN bus through the bus signal transceiver and the CAN bus. the stand controller.

Optionally, the bus signal transceiver is further configured to receive a fault handling instruction sent by the support controller through the CAN bus, and send the fault handling instruction to the microprocessor and the control circuit;

The microprocessor and the control circuit are further configured to receive the fault processing instruction, and turn on the alarm device according to the fault processing instruction.

Optionally, the system further includes: a bracket sensor and a camera;

Wherein, each described support controller is connected with a support sensor through CAN bus, and each described support controller is connected with a camera through CAN bus;

The rack controller is also used for controlling the action of the bus-type solenoid valve according to the rack sensor.

Optionally, the CAN bus between the multiple support controllers is a first-level system bus, the CAN bus between the multiple bus-type solenoid valves is a second-level system bus, and the first-level system bus There is no communication with the second-level system bus.

According to an electro-hydraulic control system based on a bus-type solenoid valve according to an embodiment of the present application, the system includes a main control computer, a plurality of bracket controllers, and a bus-type solenoid valve, wherein the plurality of bracket controllers are connected through a CAN bus, and Multiple bracket controllers are connected to the main control computer through CAN bus, each bracket controller is connected to multiple bus-type solenoid valves through CAN bus, and multiple bus-type solenoid valves are connected through CAN bus, that is, the first stage The system consists of the main control computer and each bracket controller, which are connected through the bus; the second-level system is composed of the bracket controller, each bus-type solenoid valve on the control valve group, and the bracket sensor, which are connected through the bus, thus realizing multiple The high-level distributed control system can achieve more accurate control and fault detection, and is based on the bus-type solenoid valve to achieve functions such as simplified wiring, components and function expansion.

It should be understood that the content described in this section is not intended to identify key or critical features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present application will become readily understood from the following description.

Description of drawings

1 is a schematic structural diagram of an electro-hydraulic control system based on a bus-type solenoid valve provided by an embodiment of the present application;

2 is a schematic diagram of a second-stage system in an electro-hydraulic control system based on a bus-type solenoid valve provided by an embodiment of the present application.

Detailed ways

The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.

The following describes an electro-hydraulic control system based on a bus-type solenoid valve according to an embodiment of the present application with reference to the accompanying drawings. The electro-hydraulic control system based on the bus-type solenoid valve in the embodiment of the present application can be applied to control the action of the hydraulic support of the underground working face, and cooperate with the shearer and the scraper conveyor to realize automatic comprehensive coal mining.

FIG. 1 is a schematic flowchart of an electro-hydraulic control system based on a bus-type solenoid valve provided by an embodiment of the application. As shown in FIG. 1 , the system includes: a main control machine, a plurality of bracket controllers, and a bus-type solenoid valve .

Wherein, the multiple rack controllers are connected through a CAN (Controller Area Network, controller area network) bus, and the multiple rack controllers are all connected with the main control computer through the CAN bus. Each bracket controller is connected with a plurality of bus-type solenoid valves through a CAN bus, and the multiple bus-type solenoid valves are connected through a CAN bus.

The main control machine is used to receive the control instructions of the ground computer and send the control instructions to the bracket controller. For example, identification information may be carried in the control instruction, and the main controller sends the control instruction to the stand controller corresponding to the identification information according to the identification information.

The stand controller is used for receiving the control instruction, controlling the corresponding stand according to the control instruction, and sending the state information of the stand corresponding to the stand controller to the main control machine. Wherein, each bracket controller can correspond to one bracket.

In this embodiment, the bracket controller is specifically configured to receive a control command, and control the bus-type solenoid valve according to the control command, so as to realize the action control of the bracket.

The bus type solenoid valve is used to receive the control command of the support controller and control the corresponding main spool action to realize the action control of the support hydraulic cylinder.

The electro-hydraulic control system based on the bus-type solenoid valve in this embodiment is divided into a first-level system and a second-level system. Among them, the first-level system is composed of the main control computer and each bracket controller, and the components are connected by a bus. The second-level system is the bracket-level control system, which consists of the bracket controller, each bus-type solenoid valve, the bracket sensor, and the camera. The instrument is composed, and the components are connected by a bus.

Among them, the first-level system is used to control the action of each support on the working face, and realize the coordination work among the supports and the function of fault alarm processing. The second-level system is used for the action control, state monitoring and fault control of the hydraulic support of this unit.

According to the electro-hydraulic control system based on the bus-type solenoid valve according to the embodiment of the present application, fault control can also be realized.

In an embodiment of the present application, the rack controller is further configured to, when the corresponding rack fails, send fault information to the main control computer, and perform emergency control on the corresponding rack. Among them, emergency control includes, for example, stopping work, waiting for troubleshooting, and continuing work.

The main control computer is also used to generate corresponding processing instructions according to the fault information, and send the processing instructions to the support controller, and to send the fault information to the ground computer, so that the ground computer can alarm the fault according to the fault information, which is convenient for maintenance. . Among them, the implementation manner of the ground computer performing fault alarm according to the fault information includes but is not limited to sound and light alarm, sending short messages/mails to preset equipment or mailboxes, and the like.

In an embodiment of the present application, the electro-hydraulic control system based on the bus-type solenoid valve further includes: a bracket sensor and a camera. Wherein, each bracket controller is connected with a bracket sensor through a CAN bus, and each bracket controller is connected with a camera through a CAN bus. The rack controller is also used to control the action of the bus type solenoid valve according to the rack sensor.

In this embodiment, the CAN bus between the multiple bracket controllers is the first-level system bus, the CAN bus between the multiple bus-type solenoid valves is the second-level system bus, the first-level system bus and the second-level system bus There is no connection between the buses.

Further, FIG. 2 is a schematic diagram of a second-level system provided by an embodiment of the present application.

2, the bus type solenoid valve includes: a bus signal transceiver, a microprocessor and a control circuit, an electromechanical converter, a hydraulic pilot stage and a hydraulic power stage.

The bus signal transceiver is connected with the microprocessor and the control circuit, the microprocessor and the control circuit are connected with the electromechanical converter, the electromechanical converter is connected with the hydraulic pilot stage, and the hydraulic pilot stage is connected with the hydraulic power stage.

The bus signal transceiver is used for receiving the control instructions sent by the bracket controller through the CAN bus, and sending the control instructions to the microprocessor and the control circuit. In this embodiment, the bracket controller is connected to the bus-type solenoid valve through the CAN bus, and the bracket controller sends control instructions to the bus-type solenoid valve through the CAN bus to control the bus-type solenoid valve.

The microprocessor and the control circuit are used for generating electrical signals according to the control instructions, and sending the electrical signals to the electromechanical converter to drive the electromechanical converter.

In this embodiment, the microprocessor and the control circuit are used to parse and transmit data, perform receiving information, receive signals from sensing elements, drive electromechanical converters, and realize fault detection and fault location. The microprocessor and the control circuit 20 are composed of a single-chip microcomputer, a driving circuit, and a signal input circuit.

The output signal of the driving circuit may be a DC signal, an AC signal, or a PWM (Pulse width modulation, pulse width modulation) signal. According to the form of the sensor, the input signal can be divided into voltage type and current type, and can also be divided into DC type and AC type, which can realize the power supply and input detection of various sensing elements.

Electromechanical converter for converting electrical signals into mechanical signals and sending the mechanical signals to the hydraulic pilot stage.

In this embodiment, the electromechanical converter is used to convert electrical signals into mechanical signals, wherein the mechanical signals include force or displacement signals. According to the output mode of mechanical signals, electromechanical converters include: electromechanical converters that convert electrical signals into linear displacement signals, and electromechanical converters that convert electrical signals into angular displacement signals. For example, the types of electromechanical converters can be divided into switching electromagnetic Electromechanical converters from electrical signals such as iron and proportional electromagnets to linear displacement, and electromechanical converters from electrical signals such as torque motors, stepper motors, and servo motors to angular displacement. Through the combination of electromechanical converters and sensor devices, a closed-loop control subsystem can be formed to further improve the control accuracy and response characteristics.

The hydraulic pilot stage is used to convert the mechanical signal into a hydraulic signal and send the hydraulic signal to the hydraulic power stage.

In this embodiment, the hydraulic pilot stage is used to convert the mechanical signal into the hydraulic signal, and has two forms of the switch control type hydraulic pilot stage and the proportional control type hydraulic pilot stage.

The hydraulic power stage is used to perform power amplification processing on the hydraulic signal, so as to output the medium to the hydraulic cylinder according to the hydraulic signal after the power amplification processing.

In this embodiment, the hydraulic power stage is used to amplify the hydraulic signal power of the hydraulic pilot stage, and output a medium with high pressure and large flow to the hydraulic cylinder. The hydraulic power stage has two forms: the switch-controlled hydraulic power stage and the proportional-controlled hydraulic power stage. Among them, the switching-controlled hydraulic power stage corresponds to the switch-controlled hydraulic pilot stage, and the proportional-controlled hydraulic power stage corresponds to the proportional-controlled hydraulic pilot stage. level corresponds.

In this embodiment, the microprocessor and the control circuit are also used to receive detection information sent by the sensing device, wherein the sensing device is used to detect the displacement signal of the electromechanical converter, the displacement signal and output signal of the hydraulic pilot stage, and the hydraulic power stage. displacement signal and output signal. Wherein, the sensor device includes a pressure sensor and a displacement sensor, and the sensor device is used to detect the displacement signal of the electromechanical converter, the displacement signal and output signal of the hydraulic pilot stage, and the displacement signal and output signal of the hydraulic power stage.

The microprocessor and the control circuit are also used for judging the state of the stand according to the detection information, and sending the state of the stand to the stand controller through the bus signal transceiver and the CAN bus.

In an embodiment of the present application, the bus-type solenoid valve is further used to determine whether the corresponding bracket is faulty, and in the case of the corresponding bracket failure, send fault information to the bracket controller.

Specifically, the microprocessor and the control circuit judge whether there is a fault according to the detection information, and determine the fault information in the case of a fault, and send the fault information to the support control through the bus signal transceiver and the CAN bus device. The fault information may include the location where the fault occurred.

The bracket controller sends the fault information to the main control computer, and the main control computer generates the fault processing instruction according to the fault information and sends it to the bracket controller, and then the bracket controller sends the fault processing instruction to the bus-type solenoid valve through the CAN bus.

In an embodiment of the present application, the bus signal transceiver is further configured to: receive a fault handling instruction sent by the rack controller through the CAN bus, and send the fault handling instruction to the microprocessor and the control circuit;

The microprocessor and the control circuit are also used for receiving the fault processing instruction, and turning on the alarm device according to the fault processing instruction.

In this embodiment, the support controller receives the control command from the main control machine, controls the bus solenoid valve to realize support action control, and controls the bus solenoid valve action according to the state of the support sensor, such as controlling the on-off of the solenoid pilot valve. The bus-type solenoid valve receives the control instructions of the bracket controller, controls the corresponding main spool action, and realizes the action of the bracket hydraulic cylinder. The microprocessor of the bus-type solenoid valve receives the sensor signals of the hydraulic pilot stage and the power stage, monitors the status of the hydraulic components in real time, and can judge the fault location through the logical processing of the feedback information, and transmit the fault information to the bracket controller to request the fault. Process instructions.

According to an electro-hydraulic control system based on a bus-type solenoid valve according to an embodiment of the present application, the system includes a main control computer, a plurality of bracket controllers, and a bus-type solenoid valve, wherein the plurality of bracket controllers are connected through a CAN bus, and Multiple bracket controllers are connected to the main control computer through CAN bus, each bracket controller is connected to multiple bus-type solenoid valves through CAN bus, and multiple bus-type solenoid valves are connected through CAN bus, that is, the first stage The system consists of the main control computer and each bracket controller, which are connected through the bus; the second-level system is composed of the bracket controller, each bus-type solenoid valve on the control valve group, and the bracket sensor, which are connected through the bus, thus realizing multiple The advanced distributed control system can achieve more precise control and fault detection. In addition, a solenoid valve product capable of realizing bus control is provided, which provides a component basis for a bus-based hydraulic support control system to meet the requirements of coal mining work, and at the same time realize functions such as simplified wiring, components and function expansion. In addition, the bus connection of the solenoid valve is realized, which can simplify the wiring and facilitate the function expansion, which provides a component basis for the development of an intelligent control system.

In the description of the present application, it should be understood that the terms "first" and "second" are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present application. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (8)

1. An electro-hydraulic control system based on a bus type solenoid valve, comprising:

the system comprises a main control computer, a plurality of bracket controllers and a bus type electromagnetic valve;

the plurality of support controllers are connected through a Controller Area Network (CAN) bus, and are connected with the main control computer through the CAN bus;

the main control computer is used for receiving a control instruction of the ground computer and sending the control instruction to the support controller;

the support controller is used for receiving the control instruction, controlling the corresponding support according to the control instruction, and sending the state information of the corresponding support to the main control computer;

each bracket controller is connected with a plurality of bus type electromagnetic valves through a CAN bus, and the plurality of bus type electromagnetic valves are connected through the CAN bus;

the support controller is specifically used for receiving the control instruction and controlling the bus type electromagnetic valve according to the control instruction so as to realize support action control;

the bus type electromagnetic valve is used for receiving a control instruction of the support controller and controlling the corresponding main valve core to act so as to realize the action control of the support hydraulic cylinder.

2. The system of claim 1, wherein the rack controller is further configured to, in case of a failure of the corresponding rack, send failure information to the main control computer and perform emergency control on the corresponding rack;

the main control computer is further used for generating a corresponding processing instruction according to the fault information, sending the processing instruction to the support controller, and sending the fault information to the ground computer, so that the ground computer can give out a fault alarm according to the fault information.

3. The system of claim 2, wherein the bus-type solenoid valve is further configured to determine whether the corresponding rack has failed and to send a failure message to the rack controller in the event that the corresponding rack has failed.

4. The system of claim 1, wherein said bus-type solenoid valve comprises:

the system comprises a bus signal transceiver, a microprocessor, a control circuit, an electromechanical converter, a hydraulic pilot stage and a hydraulic power stage;

the bus signal transceiver is connected with the microprocessor and the control circuit, the microprocessor and the control circuit are connected with the electromechanical converter, the electromechanical converter is connected with the hydraulic pilot stage, and the hydraulic pilot stage is connected with the hydraulic power stage;

the bus signal transceiver is used for receiving a control instruction sent by the bracket controller through a CAN bus and sending the control instruction to the microprocessor and the control circuit;

the microprocessor and the control circuit are used for generating an electric signal according to the control instruction and sending the electric signal to the electromechanical converter so as to drive the electromechanical converter;

the electromechanical converter is used for converting the electric signal into a mechanical signal and sending the mechanical signal to the hydraulic pilot stage;

the hydraulic pilot stage is used for converting the mechanical signal into a hydraulic signal and sending the hydraulic signal to the hydraulic power stage;

and the hydraulic power stage is used for carrying out power amplification processing on the hydraulic signal so as to output a medium to the hydraulic cylinder according to the hydraulic signal after the power amplification processing.

5. The system of claim 4, wherein the microprocessor and control circuitry are further configured to receive sensing information from sensing devices, wherein the sensing devices are configured to sense the displacement signal of the electromechanical transducer, the displacement signal and output signal of the hydraulic pilot stage, and the displacement signal and output signal of the hydraulic power stage;

the microprocessor and the control circuit are also used for judging the state of the bracket according to the detection information and sending the state of the bracket to the bracket controller through the bus signal transceiver and the CAN bus;

the microprocessor and the control circuit are also used for judging whether a fault occurs according to the detection information, determining fault information under the condition of the fault, and sending the fault information to the bracket controller through the bus signal transceiver and the CAN bus.

6. The system of claim 5, wherein the bus signal transceiver is further configured to receive a fault handling instruction sent by a rack controller via a CAN bus and send the fault handling instruction to the microprocessor and control circuitry;

the microprocessor and the control circuit are also used for receiving the fault processing instruction and starting an alarm device according to the fault processing instruction.

7. The system of claim 1, further comprising:

a bracket sensor and a camera;

each support controller is connected with one support sensor through a CAN bus, and each support controller is connected with one camera through the CAN bus;

and the bracket controller is also used for controlling the action of the bus type electromagnetic valve according to the bracket sensor.

8. The system of claim 1, wherein the CAN bus between the plurality of rack controllers is a first level system bus, the CAN bus between the plurality of bus-type solenoid valves is a second level system bus, and the first level system bus is not in communication with the second level system bus.

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