Hydraulic support remote control system based on EtherCAT

Abstract

The invention discloses a hydraulic support remote control system based on EtherCAT. The hydraulic support remote control system based on EtherCAT comprises a physical layer, a dielectric layer and a system control layer. The physical layer comprises a coal cutter, hydraulic supports and a scraper conveyer, wherein the coal cutter, the hydraulic supports and the scraper conveyer are arranged on a working fully mechanized face. The hydraulic supports are provided with a plurality of hydraulic cylinders and sensors. The dielectric layer comprises a plurality of solenoid valve sets, data collectors and operating panels. Each solenoid valve set, each data collector and each operating panel correspond to one hydraulic support in the physical layer. The system control layer comprises two master controllers, a plurality of I / O controllers and an EtherCAT bus used for transmitting very long instruction control words of the hydraulic supports, and the two master controllers and the I / O controllers are connected through the EtherCAT bus. The hydraulic support remote control system based on EtherCAT ensures real-time performance of remote control, provides big data transmission, and is low in development difficulty and high in reliability.

Description

technical field [0001] The invention relates to an electro-hydraulic control system for a hydraulic support, in particular to an EtherCAT-based remote control system for a hydraulic support, belonging to the field of automatic control systems for mining equipment. Background technique [0002] The hydraulic support is one of the important supporting equipment for underground mining, and the electro-hydraulic control system of the hydraulic support is an extremely important automatic control system on the fully mechanized mining face. In the research and development of fully mechanized mining intelligent equipment, due to the large amount of communication data and the long communication distance, the remote control of hydraulic supports has not been able to maintain good real-time performance, and the traditional hydraulic support control system uses CAN There are many bus communication methods, so each rack must correspond to a rack controller, forming a complex distributed ...

AI Technical Summary

Problems solved by technology

In the research and development of fully mechanized mining intelligent equipment, due to the large amount of communication data and the long communication distance, the remote control of hydraulic supports has not been able to maintain good real-time performance, and the traditional hydraulic support control system uses CAN There are many bus communication methods, so each rack must correspond to a rack controller, which constitutes a complex distributed communication system, which increases the complexity of system development and reduces the reliability of the system

[0003] At the same time, using the traditional method to design the remote control system of the hydraulic support cannot be guaranteed in terms of real-time performance, and the general delay is at the ms level or even the s level, making the remote control extremely unreliable

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