Control system for a boom-type crushing device

Abstract

A control system for a cantilever crusher includes a main controller and an electro-hydraulic controller communicatively connected to it. The main controller includes an embedded industrial controller, a wireless remote controller, a display screen, and an operation panel. The electro-hydraulic controller includes an I / O module, a programmable logic controller (PLC), sensors, and an electromagnetic proportional valve. After the electro-hydraulic controller runs its program, the electro-hydraulic control process monitors the data sent by the sensors and the embedded industrial controller in real time. When the drive space coordinate information sent by the main control program is acquired, the I / O module determines the control quantity based on the space coordinate information and the real-time feedback sensor data. The electromagnetic proportional valve then uses this control quantity to achieve closed-loop control of the hydraulic system of the cantilever crusher. This solution improves the control accuracy of the cantilever crusher by using real-time feedback data from sensors to correct the received drive space coordinate information.

Description

Technical Field

[0001] This invention relates to the field of coal mining and transportation technology, and in particular to a control system for a cantilever crushing device. Background Technology

[0002] In current mechanized coal mining processes, the detachment of large coal pieces and gangue frequently occurs, severely impacting mine efficiency and safety during transportation. Current methods for crushing large coal pieces include, but are not limited to, manual crushing after machine shutdown, crushing via a roller-type large coal crushing device in the transition section of a scraper conveyor, and crushing using a cantilever crusher. Among these, the cantilever crusher is not only flexible but also offers advantages in terms of improved crushing efficiency, making it the primary device for crushing large coal pieces.

[0003] However, most current cantilever crushing devices are based on programmable logic controllers or microcontrollers for simple open-loop control, lacking corresponding feedback units and resulting in low control accuracy. Moreover, each robotic arm can only be controlled individually by the controller, which requires a high level of technical skill from the operator and makes it impossible to move and position accurately in complex working environments. Summary of the Invention

[0004] In view of this, and to address the above shortcomings, it is necessary to propose a control system for the cantilever crusher that can improve control accuracy.

[0005] This invention provides a control system for a cantilever crusher, which includes a main controller and an electro-hydraulic control controller communicatively connected thereto. The main controller includes an embedded industrial controller, a wireless remote controller, a display screen, and an operation panel. The electro-hydraulic control controller includes an I / O module, a programmable logic controller (PLC), sensors, and an electromagnetic proportional valve. The embedded industrial controller is communicatively connected to the wireless remote controller, the display screen, and the operation panel, respectively. The I / O module is connected to the PLC, the sensors, and the electromagnetic proportional valve, respectively.

[0006] The embedded industrial controller, after running its main control program, monitors whether the operation panel, wireless remote controller, and electro-hydraulic controller are sending data. When the user issues an operation command through the wireless remote controller or operation panel, the main control process parses the operation command and calls the relevant internal modules to execute the target operation corresponding to the operation command. It also sends the drive space coordinate information and configuration data after the target operation is completed to the electro-hydraulic controller and feeds back the feedback data representing the completion of the target operation to the display screen and the wireless remote controller.

[0007] The sensor is installed on the cantilever crusher to monitor the position information of the cantilever crusher's robotic arm. The electro-hydraulic control process, after the programmable logic controller runs its electro-hydraulic control program, monitors the data sent by the sensor and the embedded industrial controller. When the embedded industrial controller does not send the drive space coordinate information or the configuration data, the electro-hydraulic control process sends the collected sensor data and the current status data of the electro-hydraulic controller to the main controller. When the electro-hydraulic control process collects the configuration data sent by the main controller, it configures its relevant modules according to the configuration data. When the electro-hydraulic control process collects the drive space coordinate information sent by the main controller, the IO module determines the control quantity based on the space coordinate information and the real-time feedback sensor data, and sends the control quantity to the electromagnetic proportional valve to realize closed-loop control of the hydraulic system of the cantilever crusher.

[0008] Preferably, the main controller is connected to the electro-hydraulic controller via TCP protocol, the embedded industrial controller is connected to the wireless remote controller via wireless communication, connected to the display screen via LCD interface, and connected to the operation panel via RS485 communication interface; the IO module is connected to the programmable logic controller via RS485 interface, and connected to the sensor and the electromagnetic proportional valve via cables respectively.

[0009] Preferably, the main control program includes a human-computer interaction module, a main control configuration module, a permission management module, an operation control module, a log module, and a communication module;

[0010] The human-computer interaction module is used to receive operation commands sent by the user from the operation panel or wireless remote control, and to provide display information to the display screen; wherein, the display information includes: configuration information pushed by the main control configuration module, user information pushed by the permission management module, coordinate information and motion program information pushed by the operation control module, communication information pushed by the communication module, and relevant logs pushed by the log module.

[0011] The main control configuration module is used to configure the parameters of the communication module, operation control module and log module;

[0012] The permission management module is used to create passwords for ordinary user accounts, verify passwords for ordinary user accounts, verify passwords for system user accounts, and grant operation permissions.

[0013] The operation control module is used to generate drive space coordinates based on the user's stepping operations in the pose space, joint space, and drive space, and to perform path planning; and after the motion program is started, the drive space coordinates are sent to the electro-hydraulic controller as the program runs, so as to execute the operation of the cantilever crusher through the electro-hydraulic control process.

[0014] The log module is used to perform log-related operations;

[0015] The communication module is used to receive various sensor data and hydraulic cylinder position data from the electro-hydraulic controller, and send the data to the human-machine interface module for display on the display screen and wireless remote control; and to send various sensor data and hydraulic cylinder position data to the operation control module for data processing.

[0016] Preferably, the parameters configured by the main control configuration module for the communication module include: RS485 baud rate, parity bit, data bits, stop bits, CAN interface mode, acceptance filter, local IP address for TCP protocol, subnet mask, default gateway, and port number; the parameters configured by the main control configuration module for the operation control module include: mechanical parameters of the cantilever crusher and the speed of the stepping motion; the parameters configured by the main control configuration module for the log module include: the number of logs displayed, the path to the log file, and the deletion time of the log file.

[0017] Preferably, the operation control module includes a stepper controller, a DH parameter generator, a link constraint equation generator, a robot kinematics solver, a link kinematics solver, a motion program manager, a motion program compiler, a path planner, and a virtual machine;

[0018] During the initialization of the operation control module, the mechanical parameters of the cantilever crusher are read from the main control configuration module and sent to the DH parameter generator and the link constraint equation generator respectively. The DH parameter generator generates the DH parameters of the cantilever crusher based on the mechanical parameters, and the link constraint equation generator generates the constraint equations of the link structure that drives each joint based on the mechanical parameters.

[0019] The stepper controller is used to generate different desired coordinate information according to different stepping operations performed by the user; wherein, the stepping operations include pose space stepping operations, joint space stepping operations, and drive space stepping operations;

[0020] The robot kinematics solver and the link kinematics solver are used to convert the generated desired coordinate information into desired coordinates in the drive space, and push the converted desired coordinates in the drive space to the communication module, so that the communication module can transmit them to the electro-hydraulic controller.

[0021] The exercise program management module is used to perform at least one of the following operations on the exercise program: creating, editing, and deleting.

[0022] The motion program compiler is used to compile the program written by the motion program management module into bytecode, and the path planner plans the trajectory formed by the user through the teaching of spatial points, generates points and saves them in the buffer.

[0023] When the user runs the program, the system loads the compiled bytecode into the virtual machine and runs it. During the process, the system continuously sends the expected coordinates of the drive space generated after trajectory planning to the electro-hydraulic controller through the communication module.

[0024] Preferably, when the user performs a pose space stepping operation, the stepping controller generates the following desired pose space coordinates C. xy :

[0025] C xy =(x,y,v) xy )

[0026] Where x is the x-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, y is the y-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, and v xy Used to characterize pose space step speed;

[0027] or,

[0028] When the user performs a joint space stepping operation, the stepping controller generates the following desired joint space coordinates C. j :

[0029] C j =(j s ,j b ,j e ,v j )

[0030] Where, j s j is the boom rotation angle of the cantilever crusher. b j is the boom angle of the cantilever crusher. e v is the rotation angle of the end effector of the cantilever crusher. j This refers to the joint space stepping speed;

[0031] or,

[0032] When the user performs a drive space stepping operation, the stepping controller generates the following desired drive space coordinates C. r :

[0033] Cr=(s s ,s b ,s e ,v)

[0034] Among them, s s The target displacement s of the boom hydraulic cylinder of the cantilever crusher is given by [the value]. b The displacement s of the boom hydraulic cylinder of the cantilever crusher is given by [reference to displacement]. e v represents the displacement of the hydraulic cylinder of the end effector of the cantilever crusher, and v is the driving space stepping speed.

[0035] Preferably, the instructions for editing the motion program by the motion program management module include: joint movement instructions and pose movement instructions;

[0036] When a joint movement command is executed, the user moves the cantilever crusher by stepping through the joint space in the operation panel and obtains the corresponding joint point information, which is then saved to the buffer. When a pose movement command is executed, the user moves the cantilever crusher by stepping through the pose space in the operation panel and obtains the corresponding Cartesian coordinate information, which is then saved to the buffer.

[0037] Preferably, the electro-hydraulic control program includes a data transmission module, an electro-hydraulic control configuration module, an I / O acquisition and control module, and a hydraulic control module;

[0038] The data transmission module transmits data with the main controller to receive drive space coordinate information and configuration data from the main controller, and sends real-time sensor data fed back by the sensor and position data indicating whether the hydraulic cylinder has reached the correct position to the main controller.

[0039] The electro-hydraulic control configuration module is used to configure the relevant parameters in the hydraulic control module according to the configuration data sent by the main controller;

[0040] The hydraulic control module is used to generate control signals using a fuzzy PID algorithm;

[0041] The IO acquisition and control module is used to acquire feedback signals from the sensors and push the feedback signals to the data transmission module and the hydraulic control module; and to receive control signals generated by the hydraulic control module and control the electromagnetic proportional valve through the IO module to drive the cantilever crusher to move hydraulically.

[0042] Preferably, the hydraulic control module further includes a fuzzy controller and a PID controller. When the electro-hydraulic control process acquires configuration data, the hydraulic control module sets the fuzzy rules, membership parameters, and PID parameter value ranges of the fuzzy controller; and calculates the final PID parameter value based on the received drive space coordinate information using the fuzzy controller, and pushes the PID parameter value to the PID controller; the PID controller outputs a control quantity based on the pushed PID parameter value, and generates a control signal from the control quantity and outputs it to the IO acquisition and control module.

[0043] Preferably, the hydraulic control module determines the error and error rate of change based on the received drive space coordinate information and the sensor data collected by the sensor, and transmits the error and error rate of change to the fuzzy controller; the fuzzy controller corrects the PID parameters in real time according to fuzzy rules to obtain the final PID parameter values.

[0044] As can be seen from the above technical solution, in the control system of the cantilever crusher provided in this embodiment of the invention, the electro-hydraulic control process monitors the data sent by the sensors and the embedded industrial controller in real time. When the drive space coordinate information sent by the main control program is acquired, the IO module determines the control quantity based on the space coordinate information and the real-time feedback sensor data. Then, the electromagnetic proportional valve realizes closed-loop control of the hydraulic system of the cantilever crusher based on the control quantity. Therefore, this solution corrects the received drive space coordinate information by using feedback data collected in real time by the sensors. This closed-loop control method can correct the set value when the control quantity deviates from the set value, thereby improving the control accuracy of the cantilever crusher. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of a cantilever crushing device;

[0046] Figure 2 This is a schematic diagram of the control system of a cantilever crushing device;

[0047] Figure 3 This is a data interaction diagram of the control system of a cantilever crushing device;

[0048] In the diagram: boom 1, stick 2, end effector 3. Detailed Implementation

[0049] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] like Figure 1 The diagram shows the mechanism of a cantilever crusher, which consists of three links: the boom, the stick, and the end effector. The end effector is also the hammer part of the cantilever crusher. Each link is driven by a hydraulic drive unit.

[0051] See Figure 2 and Figure 3 This invention provides a control system for a cantilever crushing device. The control system includes a main controller and an electro-hydraulic control controller that are communicatively connected to it. The main controller includes an embedded industrial controller, a wireless remote controller, a display screen, and an operation panel. The electro-hydraulic control controller includes an I / O module, a programmable logic controller, a sensor, and an electromagnetic proportional valve. The embedded industrial controller is communicatively connected to the wireless remote controller, the display screen, and the operation panel. The I / O module is connected to the programmable logic controller, the sensor, and the electromagnetic proportional valve.

[0052] After the embedded industrial controller runs its main control program, the main control process monitors whether the operation panel, wireless remote control, and electro-hydraulic controller are sending data. When the user issues an operation command through the wireless remote control or operation panel, the main control process parses the operation command and calls the relevant internal modules to execute the target operation corresponding to the operation command. After the target operation is completed, the drive space coordinate information and configuration data are sent to the electro-hydraulic controller, and the feedback data representing the completion of the target operation is fed back to the display screen and the wireless remote control.

[0053] Sensors are installed on the cantilever crusher to monitor the position of the robotic arm. The electro-hydraulic control process, after the programmable logic controller (PLC) runs its electro-hydraulic control program, monitors the data sent by the sensors and the embedded industrial controller. When the embedded industrial controller does not send drive space coordinate information or configuration data, the electro-hydraulic control process sends the collected sensor data and the current status data of the electro-hydraulic controller to the main controller. When the electro-hydraulic control process collects the configuration data sent by the main controller, it configures its relevant modules according to the configuration data. When the electro-hydraulic control process collects the drive space coordinate information sent by the main controller, the I / O module determines the control quantity based on the space coordinate information and the real-time feedback sensor data, and sends the control quantity to the electromagnetic proportional valve to realize closed-loop control of the hydraulic system of the cantilever crusher.

[0054] Furthermore, in one embodiment, the main controller is connected to the electro-hydraulic controller via TCP protocol, the embedded industrial controller is connected to the wireless remote controller via wireless communication, connected to the display screen via LCD interface, and connected to the operation panel via RS485 communication interface; the IO module is connected to the programmable logic controller via RS485 interface, and connected to the sensor and the electromagnetic proportional valve via cables respectively.

[0055] In this embodiment, after the system is powered on, the embedded industrial controller starts and runs its main control program, and the programmable logic controller starts and runs its electro-hydraulic control program. The processes of the main control program and the electro-hydraulic control program together realize the control behavior of the control system on the cantilever crusher.

[0056] Specifically, for the main controller, the main control process collects relevant data sent by the user's operation panel, wireless remote control, and electro-hydraulic controller. When the user does not perform any operations through the wireless remote control or operation panel, the main control process monitors this data and feeds back the data and monitoring results to the display screen and wireless remote control to inform the user of the current monitoring status. When the user operates through the wireless remote control or operation panel, the main control process parses the operation command, calls the relevant internal modules to execute the corresponding operation, and then sends the drive space coordinate information or configuration data after the operation is completed to the electro-hydraulic controller, while simultaneously feeding back relevant feedback information to the display screen and wireless remote control.

[0057] For the electro-hydraulic control system, the electro-hydraulic control process collects relevant data from sensors and the main controller. When the main controller does not send drive space coordinate information or configuration data, the electro-hydraulic control process sends the collected sensor data and the status data of the electro-hydraulic control system to the main controller. When the electro-hydraulic control system receives the configuration data sent by the main controller, the electro-hydraulic control process configures its relevant modules. When it receives drive space coordinate data, the electro-hydraulic control process calls the relevant modules based on the real-time collected sensor data to send analog or digital signals to the electromagnetic proportional valve, thereby realizing closed-loop control of the hydraulic system of the cantilever crusher and sending feedback information to the electro-hydraulic control system.

[0058] In this embodiment, the system's main controller is connected to the electro-hydraulic controller via an RJ45 interface using TCP. In the main controller of the cantilever crusher's control system, a wireless remote controller connects wirelessly to a wireless receiver, which in turn connects to an embedded industrial controller via a CAN bus, enabling communication between the two. In the electro-hydraulic controller of the cantilever crusher's control system, sensors may include displacement sensors, tilt sensors, and encoders. These sensors are connected to the I / O module via cables, and multiple electromagnetic proportional valves are also connected to the I / O module via cables.

[0059] In one embodiment, the main control program includes a human-computer interaction module, a main control configuration module, a permission management module, an operation control module, a log module, and a communication module;

[0060] The human-computer interaction module is used to receive operation commands sent by the user from the operation panel or wireless remote control, and to display information on the display screen. The display information includes: configuration information pushed by the main control configuration module, user information pushed by the permission management module, coordinate information and motion program information pushed by the operation control module, communication information pushed by the communication module, and relevant logs pushed by the log module.

[0061] The main control configuration module is used to configure the parameters of the communication module, operation control module, and log module.

[0062] The access control module is used to create passwords for ordinary user accounts, verify passwords for ordinary user accounts, verify passwords for system user accounts, and grant operation permissions.

[0063] The operation control module is used to generate drive space coordinates based on the user's stepping operations in the pose space, joint space and drive space, and to perform path planning; and after the motion program is started, the drive space coordinates are sent to the electro-hydraulic controller as the program runs, so as to execute the operation of the cantilever crusher through the electro-hydraulic control process.

[0064] The logging module is used to perform logging-related operations;

[0065] The communication module is used to receive various sensor data and hydraulic cylinder position data from the electro-hydraulic controller, and send the data to the human-machine interface module for display on the screen and wireless remote control; and to send various sensor data and hydraulic cylinder position data to the operation control module for data processing.

[0066] In this embodiment, the human-computer interaction module is responsible for receiving operation commands from the user via the operation panel and wireless remote control, and feeding back display information to the display screen and wireless remote control. This display information includes configuration information pushed by the main control configuration module, user information pushed by the permission management module, coordinate information and motion program information pushed by the operation control module, communication information pushed by the communication module, and relevant logs pushed by the log module. Simultaneously, it can also receive related configuration operations, login / logout operations, step / motion program editing / motion program running operations, log operations, communication operations, etc. These related operations will be parsed and processed by the relevant modules.

[0067] User login / logout operations invoke the permission management module, which includes the following functions: creating and verifying passwords for regular user accounts, verifying passwords for system user accounts, and granting operation permissions. Users can log in as regular users or system users. This module assigns different operation permissions to these two types of accounts and filters operations that do not conform to their permissions. When a regular user logs in, some configuration items and some operations on the operation control module are not allowed. When a system user logs in, they have all operation permissions.

[0068] When configuring parameters for the communication module, operation control module, and log module, the main control configuration module can configure the following parameters for the communication module: RS485 baud rate, parity bit, data bits, stop bits, CAN interface mode, acceptance filtering, local IP address for TCP protocol, subnet mask, default gateway, and port number. For the operation control module, the main control configuration module can configure the following parameters: mechanical parameter settings for the cantilever crusher and speed settings for the stepping motion. For the log module, the main control configuration module can configure the following parameters: the number of logs displayed, the path to the log file, and the log file deletion time.

[0069] In this embodiment, the arrival of external information and the push of internal information invoke the communication module. The communication module is primarily responsible for communicating with the electro-hydraulic controller, receiving various sensor data and position data (whether each hydraulic cylinder is in position) from the controller. This data is sent to the human-machine interface module for display on the screen and wireless remote control, and also to the operation control module. The results calculated by the operation control module are also sent to the electro-hydraulic controller via the communication module. For example, the sent data may include the desired drive space coordinates Cr = (s... s ,s b ,s e ,v), where s s s represents the target displacement of the boom hydraulic cylinder of the cantilever crusher. b For the displacement of the boom hydraulic cylinder of the cantilever crusher, s e v represents the displacement of the hydraulic cylinder of the end effector of the cantilever crusher, and v is the driving space stepping speed.

[0070] The operation control module is the core of the main control program. It can generate drive space coordinates Cr based on the user's stepping operations in the pose space (end effector space), joint space, and drive space. It can also support the user to create, edit, and modify the motion program of the cantilever crusher, and perform path planning on the path defined in the program. Finally, it can run the motion program and send the drive space coordinates to the electro-hydraulic controller as the program runs. Then, the electro-hydraulic control process executes the automatic operation of the cantilever crusher.

[0071] In one embodiment, the operation control module may further include a stepper controller, a DH parameter generator, a link constraint equation generator, a robot kinematics solver, a link kinematics solver, a motion program manager, a motion program compiler, a path planner, and a virtual machine;

[0072] During the initialization of the operation control module, the mechanical parameters of the cantilever crusher are read from the main control configuration module and sent to the DH parameter generator and the link constraint equation generator respectively. The DH parameter generator generates the DH parameters of the cantilever crusher based on the mechanical parameters, and the link constraint equation generator generates the constraint equations of the link structure that drives each joint based on the mechanical parameters.

[0073] The stepper controller is used to generate different desired coordinate information based on different stepping operations performed by the user; the stepping operations include pose space stepping operations, joint space stepping operations, and drive space stepping operations.

[0074] The robot kinematics solver and the link kinematics solver are used to convert the generated desired coordinate information into desired coordinates in the drive space, and push the converted desired coordinates in the drive space to the communication module, so that the communication module can transmit them to the electro-hydraulic controller.

[0075] The sports program management module is used to perform at least one of the following operations on sports programs: creating, editing, and deleting.

[0076] The motion program compiler is used to compile the program written in the motion program management module into bytecode, and the path planner plans the trajectory formed by the user through the teaching of spatial points, generates points and saves them in the buffer;

[0077] When the user runs the program, the system loads the compiled bytecode into the virtual machine and runs it. During the process, the expected coordinates of the drive space generated after trajectory planning are continuously sent to the electro-hydraulic controller through the communication module.

[0078] In this embodiment, when the operation control module is initialized, it first reads the mechanical parameters of the cantilever crusher from the main control configuration module, and then sends the parameters to the DH parameter generator and the link constraint equation generator. These two modules will automatically generate the DH parameters of the cantilever crusher and the constraint equation set of the link structure that drives each joint based on the mechanical parameters of the cantilever crusher.

[0079] When a user performs one of three stepping operations—pose space stepping, joint space stepping, or drive space stepping—the stepping controller is invoked first. The stepping controller generates different desired coordinate information based on the different stepping operations. During pose space operations, it generates the desired pose space coordinates C. xy =(x,y,v) xy ), where x is the x-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, y is the y-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, and v xy Used to characterize the pose space stepping speed; during joint space stepping operations, the desired joint space coordinates C are generated. j =(j s ,j b ,j e ,v j ), where j s j is the boom rotation angle of the cantilever crusher. b j is the boom rotation angle of the cantilever crusher. e v is the rotation angle of the end effector of the cantilever crusher. j This represents the joint space stepping speed; during the drive space stepping operation, the desired drive space coordinates Cr = (s) are generated. s ,s b ,s e ,v), where s s s represents the target displacement of the boom hydraulic cylinder of the cantilever crusher. b For the displacement of the boom hydraulic cylinder of the cantilever crusher, s e v represents the displacement of the hydraulic cylinder of the end effector of the cantilever crusher, and v is the driving space stepping speed.

[0080] During pose space stepping operations, the system calls the robot kinematics solver and the link kinematics solver to convert the desired pose space coordinates into desired drive space coordinates, and then pushes the joint coordinates to the human-machine interface for display. During joint space stepping operations, the system calls the link kinematics solver to convert the desired joint space coordinates into desired drive space coordinates, and then calls the robot kinematics solver to generate pose space coordinates before pushing them to the human-machine interface. During drive space stepping operations, the system directly generates the desired drive space coordinates Cr, and calls the link kinematics solver and the robot kinematics solver to push the pose coordinates and joint coordinates to the human-machine interface for display. After each of the above stepping operations, the desired drive space coordinates Cr are generated as module outputs and directly pushed to the communication module.

[0081] Therefore, this solution can simultaneously control the robotic arm of the cantilever crusher in the pose space, joint space, and drive space, without requiring a high level of operator skill, as the system can automatically perform coordinate transformations and output the final control commands. Furthermore, by simultaneously driving different spaces, the cantilever crusher can adapt to movement and positioning in complex working conditions with high precision.

[0082] When performing motion program programming operations, including program creation, program editing, and program deletion, the system will invoke the motion program management module to create, edit, and delete programs. During motion program editing, users can use conditional commands, loop commands, variable declaration and definition commands, function declaration and definition commands, basic arithmetic commands (addition, subtraction, multiplication, division, modulo, exponentiation, square root, sign, integer division, trigonometric functions, inverse trigonometric functions, shift, bitwise AND, bitwise OR), basic relational arithmetic commands (equal to, not equal to, greater than, less than, greater than or equal to, less than or equal to), comment commands, joint movement (MOVJ) commands, and pose movement (MOVL) commands to edit the program.

[0083] In one embodiment, when a joint movement command is executed, the user moves the cantilever crusher by stepping through the joint space in the operation panel and obtains the corresponding joint point information, which is then saved to the buffer. When a pose movement command is executed, the user moves the cantilever crusher by stepping through the pose space in the operation panel and obtains the corresponding Cartesian space coordinate information, which is then saved to the buffer.

[0084] In this embodiment, when executing MOVJ and MOVL commands, the user first teaches the spatial points. In the MOVJ command editing panel, the user moves the cantilever crusher using the joint space stepping mechanism on the control panel and saves the corresponding joint point information to the buffer. In the MOVL command editing panel, the user moves the cantilever crusher using the pose space stepping mechanism on the control panel and saves the corresponding Cartesian space coordinate information to the buffer. After the program is edited, the motion program compilation module is called to compile the program into bytecode, and the trajectory formed by the taught points in the previous step is planned and points are generated and saved in the buffer. When the user runs the program, the system calls the virtual machine module to load the compiled bytecode into the virtual machine for execution. During execution, the desired drive space coordinates generated after trajectory planning are continuously sent through the communication module. The electro-hydraulic controller then controls the hydraulic system of the cantilever crusher based on these desired drive space coordinates and data monitored in real time by the sensors.

[0085] Therefore, this solution demonstrates a high degree of automation and intelligence. It can plan its trajectory in real time based on received data during operation, autonomously moving along the working path while optimizing the path for more precise control. Furthermore, this solution allows for the writing of motion programs and includes numerous program editing instructions, thus meeting a wider range of user needs.

[0086] In one embodiment, the electro-hydraulic control program may include a data transmission module, an electro-hydraulic control configuration module, an I / O acquisition and control module, and a hydraulic control module;

[0087] The data transmission module transmits data with the main controller to receive drive space coordinate information and configuration data from the main controller, and sends real-time sensor data fed back by the sensor and position data indicating whether the hydraulic cylinder has reached the correct position to the main controller.

[0088] The electro-hydraulic control configuration module is used to configure the relevant parameters in the hydraulic control module according to the configuration data sent by the main controller;

[0089] The hydraulic control module is used to generate control signals using a fuzzy PID algorithm;

[0090] The IO acquisition and control module is used to acquire feedback signals from sensors and push these feedback signals to the data transmission module and the hydraulic control module; and to receive control signals generated by the hydraulic control module and control the electromagnetic proportional valve through the IO module to drive the cantilever crusher to move hydraulically.

[0091] In this embodiment, the data transmission module is responsible for transmitting data with the main controller. It receives the drive space coordinates and configuration information from the main controller and sends real-time information from the sensors and events indicating whether the action is in place. The electro-hydraulic control configuration module is responsible for configuring the relevant parameters in the hydraulic control module according to the configuration information sent from the main controller. The IO acquisition and control module is responsible for acquiring the feedback signals from the sensors and pushing the signals to the data transmission module and the hydraulic control module. It also receives the control signals from the hydraulic control module and controls the electromagnetic proportional valve through the IO module of the electro-hydraulic controller, thereby driving the movement of the cantilever crusher hydraulically.

[0092] The hydraulic control module is a key component of the electro-hydraulic control program. It primarily uses a fuzzy PID method to generate control signals and control the hydraulic system. Specifically, in one embodiment, the hydraulic control module may further include a fuzzy controller and a PID controller. When the electro-hydraulic control process acquires configuration data, the hydraulic control module sets the fuzzy rules, membership parameters, and PID parameter value ranges for the fuzzy controller. It then uses the fuzzy controller to calculate the final PID parameter values ​​based on the received drive space coordinate information and pushes these values ​​to the PID controller. The PID controller outputs a control quantity based on the pushed PID parameter values ​​and generates a control signal, which is then output to the I / O acquisition and control module. When determining the PID parameter values, the hydraulic control module determines the error and error rate of change based on the received drive space coordinate information and sensor data acquired by the sensors, and transmits these values ​​to the fuzzy controller. The fuzzy controller then corrects the PID parameters in real time according to the fuzzy rules to obtain the final PID parameter values.

[0093] In this embodiment, the hydraulic control module receives the desired coordinate information of the drive space as input and finally outputs the control quantity to the IO acquisition and control module. During the process, the error between the sensor feedback value and the desired value, as well as the rate of change of the error, are transmitted to the fuzzy controller. The fuzzy controller corrects the PID parameters in real time according to the fuzzy rule table. Then, the PID controller outputs the final control quantity based on the PID parameters.

[0094] The hydraulic control module is further composed of a fuzzy controller and a PID controller. When the communication module receives configuration data, the hydraulic control module sets the fuzzy rules, membership parameters, and maximum and minimum values ​​of PID parameters such as Kp, Ki, and Kd. When the desired coordinate information of the drive space is input, the hydraulic control module first calls the fuzzy controller to map the error and error rate of change to the universe of discourse based on the desired coordinate information and error information. Then, it calculates the membership degrees of the error and error rate of change, further calculates the membership degrees of the output increments ΔKp, ΔKi, and ΔKd, and calculates the corresponding universe of discourse values ​​for the output increments ΔKp, ΔKi, and ΔKd. Finally, after defuzzifying ΔKp, ΔKi, and ΔKd, the final Kp, Ki, and Kd values ​​are calculated and pushed to the PID controller. The PID controller then outputs control quantities based on the Kp, Ki, and Kd values ​​and converts them into final control signals, which are output to the IO acquisition and control module to control the hydraulic system of the cantilever crusher.

[0095] Among the PID parameters Kp, Ki, and Kd, Kp is the proportional control coefficient, which in a PID controller accelerates the system's response speed, improves the system's control accuracy, and quickly adjusts errors. Ki is the integral control coefficient, which in a PID controller eliminates residuals and adjusts the steady-state time. Kd is the derivative control coefficient, which in a PID controller improves the system's dynamic performance, predicts error trends, and corrects errors in advance.

[0096] The modules or units in the device of this invention can be merged, divided, and deleted according to actual needs. The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the invention. Those skilled in the art will understand that implementing all or part of the processes of the above embodiments and making equivalent changes according to the claims of this invention still fall within the scope of the invention.

Claims

1. A control system for a cantilever crushing device, characterized in that, The control system includes a main controller and an electro-hydraulic control controller that are communicatively connected to it. The main controller includes an embedded industrial controller, a wireless remote controller, a display screen, and an operation panel. The electro-hydraulic control controller includes an I / O module, a programmable logic controller, a sensor, and an electromagnetic proportional valve. The embedded industrial controller is communicatively connected to the wireless remote controller, the display screen, and the operation panel. The I / O module is connected to the programmable logic controller, the sensor, and the electromagnetic proportional valve. The embedded industrial controller, after running its main control program, monitors whether the operation panel, wireless remote controller, and electro-hydraulic controller are sending data. When the user issues an operation command through the wireless remote controller or operation panel, the main control process parses the operation command and calls the relevant internal modules to execute the target operation corresponding to the operation command. It also sends the expected coordinate information of the drive space and configuration data after the target operation is completed to the electro-hydraulic controller, and feeds back the feedback data representing the completion of the target operation to the display screen and wireless remote controller. The main control program includes a human-machine interaction module, a main control configuration module, an operation control module, and a communication module. The sensor is installed on the cantilever crusher to monitor the position information of the cantilever crusher's robotic arm. The electro-hydraulic control process, after the programmable logic controller runs its electro-hydraulic control program, monitors the data sent by the sensor and the embedded industrial controller. When the embedded industrial controller does not send the desired drive space coordinate information or the configuration data, the electro-hydraulic control process sends the collected sensor data and the current status data of the electro-hydraulic controller to the main controller. When the electro-hydraulic control process collects the configuration data sent by the main controller, it configures its relevant modules according to the configuration data. When the electro-hydraulic control process collects the desired drive space coordinate information sent by the main controller, the electro-hydraulic control program determines the control quantity based on the desired drive space coordinate information and the real-time feedback sensor data, and sends the control quantity to the electromagnetic proportional valve to realize closed-loop control of the hydraulic system of the cantilever crusher. The operation control module is used to generate desired coordinate information of the drive space based on the user's stepping operations in the pose space, joint space and drive space, and to perform path planning; or, after the motion program is started, the desired coordinate information of the drive space is sent to the electro-hydraulic controller as the motion program runs, so as to execute the operation of the cantilever crusher through the electro-hydraulic control process. The operation control module includes a stepper controller, a DH parameter generator, a link constraint equation generator, a robot kinematics solver, a link kinematics solver, a motion program manager, a motion program compiler, a path planner, and a virtual machine; During the initialization of the operation control module, the mechanical parameters of the cantilever crusher are read from the main control configuration module and sent to the DH parameter generator and the link constraint equation generator respectively. The DH parameter generator generates the DH parameters of the cantilever crusher based on the mechanical parameters, and the link constraint equation generator generates the constraint equations of the link structure that drives each joint based on the mechanical parameters. The stepper controller is used to generate different desired coordinate information according to different stepping operations performed by the user; wherein, the stepping operations include pose space stepping operations, joint space stepping operations, and drive space stepping operations; The robot kinematics solver and the link kinematics solver are used to convert the generated desired coordinate information into desired coordinate information in the drive space, and push the converted desired coordinate information in the drive space to the communication module, so that the communication module can transmit it to the electro-hydraulic controller. The exercise program management module is used to perform at least one of the following operations on the exercise program: creating, editing, and deleting. The motion program compiler is used to compile the program written by the motion program management module into bytecode, and the path planner plans the trajectory formed by the user through the teaching of spatial points, generates points and saves them in the buffer. When the user runs the program, the system loads the compiled bytecode into the virtual machine and runs it. During the process, the system continuously sends the expected coordinate information of the drive space generated after trajectory planning to the electro-hydraulic controller through the communication module.

2. The control system of the cantilever crusher according to claim 1, characterized in that, The main controller is connected to the electro-hydraulic controller via TCP protocol. The embedded industrial controller is connected to the wireless remote controller via wireless communication, to the display screen via LCD interface, and to the operation panel via RS485 communication interface. The IO module is connected to the programmable logic controller via RS485 interface and to the sensor and the electromagnetic proportional valve via cables.

3. The control system of the cantilever crusher according to claim 1, characterized in that, The main control program also includes a permission management module and a log module; The human-computer interaction module is used to receive operation commands sent by the user from the operation panel or wireless remote control, and to provide display information to the display screen; wherein, the display information includes: configuration information pushed by the main control configuration module, user information pushed by the permission management module, coordinate information and motion program information pushed by the operation control module, communication information pushed by the communication module, and relevant logs pushed by the log module. The main control configuration module is used to configure the parameters of the communication module, operation control module and log module; The permission management module is used to create passwords for ordinary user accounts, verify passwords for ordinary user accounts, verify passwords for system user accounts, and grant operation permissions. The log module is used to perform log-related operations; The communication module is used to receive various sensor data and hydraulic cylinder position data from the electro-hydraulic controller, and send the data to the human-machine interface module for display on the display screen and wireless remote control; and to send various sensor data and hydraulic cylinder position data to the operation control module for data processing.

4. The control system of the cantilever crusher according to claim 3, characterized in that, The parameters configured by the main control configuration module for the communication module include: RS485 baud rate, parity bit, data bits, stop bits, CAN interface mode, acceptance filter, local IP address for TCP protocol, subnet mask, default gateway, and port number; the parameters configured by the main control configuration module for the operation control module include: mechanical parameters of the cantilever crusher and the speed of the stepping motion; the parameters configured by the main control configuration module for the log module include: the number of logs displayed, the path to the log file, and the deletion time of the log file.

5. The control system of the cantilever crusher according to claim 1, characterized in that, When the user performs a pose space stepping operation, the stepping controller generates the desired pose space coordinates. Where x is the x-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, y is the y-coordinate of the end effector of the cantilever crusher in a Cartesian coordinate system with the base as the origin, and v xy Used to characterize pose space step speed; or, When the user performs a joint space stepping operation, the stepping controller generates the desired joint space coordinates. , where j s j is the boom rotation angle of the cantilever crusher. b j is the boom angle of the cantilever crusher. e v is the rotation angle of the end effector of the cantilever crusher. j This refers to the joint space stepping speed; or, When the user performs a stepping operation in the drive space, the stepping controller generates the desired coordinate information in the drive space. , where s s The target displacement s of the boom hydraulic cylinder of the cantilever crusher is given by [the value]. b The displacement s of the boom hydraulic cylinder of the cantilever crusher is given by [reference to displacement]. e v represents the displacement of the hydraulic cylinder of the end effector of the cantilever crusher, and v is the driving space stepping speed.

6. The control system of the cantilever crusher according to claim 1, characterized in that, The instructions for editing the motion program in the motion program management module include: joint movement instructions and pose movement instructions; When a joint movement command is executed, the user moves the cantilever crusher by stepping through the joint space in the operation panel and obtains the corresponding joint point information, which is then saved to the buffer. When a pose movement command is executed, the user moves the cantilever crusher by stepping through the pose space in the operation panel and obtains the corresponding Cartesian coordinate information, which is then saved to the buffer.

7. The control system of the cantilever crusher according to claim 1, characterized in that, The electro-hydraulic control program includes a data transmission module, an electro-hydraulic control configuration module, an IO acquisition and control module, and a hydraulic control module. The data transmission module transmits data with the main controller to receive the desired coordinate information of the drive space and configuration data from the main controller, and sends real-time sensor data fed back by the sensor and position data indicating whether the hydraulic cylinder has reached the correct position to the main controller. The electro-hydraulic control configuration module is used to configure the relevant parameters in the hydraulic control module according to the configuration data sent by the main controller; The hydraulic control module is used to generate control signals using a fuzzy PID algorithm; The IO acquisition and control module is used to acquire feedback signals from the sensors and push the feedback signals to the data transmission module and the hydraulic control module; and to receive control signals generated by the hydraulic control module and control the electromagnetic proportional valve through the IO module to drive the cantilever crusher to move hydraulically.

8. The control system of the cantilever crusher according to claim 7, characterized in that, The hydraulic control module further includes a fuzzy controller and a PID controller. When the electro-hydraulic control process acquires configuration data, the hydraulic control module sets the fuzzy rules, membership parameters, and PID parameter value ranges of the fuzzy controller; and calculates the final PID parameter value based on the received desired coordinate information of the drive space using the fuzzy controller, and pushes the PID parameter value to the PID controller; the PID controller outputs a control quantity based on the pushed PID parameter value, and generates a control signal from the control quantity and outputs it to the IO acquisition and control module.

9. The control system of the cantilever crusher according to claim 8, characterized in that, The hydraulic control module determines the error and error rate of change based on the received desired coordinate information of the drive space and the sensor data collected by the sensor, and transmits the error and error rate of change to the fuzzy controller. The fuzzy controller corrects the PID parameters in real time according to fuzzy rules to obtain the final PID parameter values.

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