Electric integrated control system of explosion-proof electric vehicle for coal mine

Abstract

The invention discloses an electrical integrated control system of an explosion-proof electric vehicle for a coal mine. The electrical integrated control system comprises a plurality of automatic master-slave control units, each automatic master-slave control unit comprises a system manager, an application manager and a controller; the system manager is in communication connection with the application manager to form a master control layer, and the application manager is in communication connection with the controller to form a slave control layer; the system managers in the two automatic master-slave control units are connected through a first interface, and the application managers in the two automatic master-slave control units are connected through a second interface. According to the invention, each automatic master-slave control unit independently forms a system, so that the system can be conveniently subjected to hierarchical management, each unit is standardized, and the requirement of system integration is easily met.

Description

Technical Field

[0001] The invention relates to the technical field of integrated control, and in particular to an electrical integrated control system for explosion-proof electric vehicles for coal mines. Background Art

[0002] Explosion-proof vehicles are special vehicles used in coal mines. The entire vehicle and its onboard electrical equipment must meet explosion-proof requirements. With the maturity of electric vehicle technology, underground coal mines are increasingly in need of explosion-proof electric vehicles.

[0003] At present, the electrical architecture of underground explosion-proof electric vehicles is still in its early stages. According to the basic functional structure of electric vehicles, mature electrical components of ground electric vehicles are used for explosion-proof design. Generally, a flameproof solution is adopted, which results in large size, heavy weight, and large number. In addition, it is still a traditional E / E architecture design with complex wiring, low reliability, and difficult upgrading, which does not meet the needs of the intelligent development of explosion-proof electric vehicles. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an electrical integrated control system for explosion-proof electric vehicles for coal mines. It borrows the domain control concept of ground electric vehicles, combines it with electrical explosion-proof design, integrates structure, function and process design, and plans and defines each controller based on the functional requirements of the entire vehicle.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] The present invention provides an electrical integrated control system for explosion-proof electric vehicles for coal mines, comprising a plurality of automatic master-slave control units;

[0007] A plurality of automatic master-slave control units each include a system manager, an application manager and a controller;

[0008] The system manager is connected in communication with the application manager to form a main control layer, and the application manager is connected in communication with the controller to form a slave control layer;

[0009] The system managers in the two automatic master-slave control units are connected via a first interface, and the application managers in the two automatic master-slave control units are connected via a second interface.

[0010] Optionally, after the system manager sends the control instruction, the application manager and other application managers compete to receive the control instruction;

[0011] The application manager processes the received control instructions and sends them to the hardware execution circuit in the controller to execute the hardware tasks.

[0012] Optionally, the controller includes at least a power supply controller, a chassis controller, a front and rear controller, an auxiliary driving controller, a vehicle terminal controller and a vehicle controller.

[0013] Optionally, the controllers are combined in different ways to perform different configurations of the vehicle.

[0014] Optionally, the system manager and the application manager, as well as the application manager and the controller in the same automatic master-slave control unit are connected via bus communication.

[0015] Optionally, when the communication between interfaces is analog, the bandwidth is:

[0016] ;

[0017] In the formula, is the sampling frequency; For maximum accuracy of transmitted signals.

[0018] Optionally, when the communication between interfaces is digital, the bandwidth is:

[0019] ;

[0020] In the formula, is the ratio of sampling time to transmission time; is the sampling frequency; is the binary bit of the measured variable.

[0021] Optionally, the total communication bandwidth between interfaces is:

[0022] ;

[0023] In the formula, is the sampling frequency; To achieve the maximum accuracy of the transmitted signal; is the ratio of sampling time to transmission time; is the binary bit of the measured variable.

[0024] Beneficial Effects

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] Each automatic master-slave control unit of the present invention forms an independent system, and the system can be easily managed in layers. Each unit is standardized and can easily meet the requirements of system integration. Even if the system manager does not exercise any control over the underlying controller, each application manager can complete the corresponding function under its own control. If a local fault occurs, each controller will immediately respond accordingly. At the same time, the application manager will transmit the fault information to the adjacent sub-units of the same level, so that the sub-units can coordinate their actions. The external interface of each unit is standardized, and each unit has independent functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure shows a schematic diagram of the structure of an electric integrated control system for electric vehicles for coal mines in one embodiment of the present invention;

[0028] Figure 2 FIG. 1 is a schematic diagram of a Fourier spectrum expansion envelope of a driving signal of the present invention in an embodiment. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0030] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0031] Example 1

[0032] like Figure 1 As shown, this embodiment introduces an electrical integrated control system for explosion-proof electric vehicles for coal mines, which specifically includes multiple automatic master-slave control units, and the automatic master-slave control units are internally connected by a bus.

[0033] A plurality of automatic master-slave control units each include a system manager, an application manager and a controller.

[0034] The system manager and the application manager in the same automatic master-slave control unit are connected via bus communication to form a master control layer, and the application manager and the controller in the same automatic master-slave control unit are connected via bus communication to form a slave control layer.

[0035] The electrical architecture of explosion-proof electric vehicles borrows the domain control concept of ground electric vehicles, combines it with electrical explosion-proof design, integrates structure, function and process design, and plans and defines each controller based on the functional requirements of the entire vehicle.

[0036] In this embodiment, the controller includes a power controller, a chassis controller, a front and rear controller, an auxiliary driving controller, an on-board terminal controller and a vehicle controller, and each controller is a microcontroller using a hardware security module.

[0037] The microcontroller includes a random number generator, an algorithm hardware accelerator and an interrupt timer external device.

[0038] The controllers are combined in different ways to configure the vehicle. The functions of each controller are defined by software to achieve functional upgrades.

[0039] The control system adopts a modular control system, and the integrated control uses two levels of control layers, namely a master control layer and a slave control layer.

[0040] After the system manager sends a control instruction, the application manager and other application managers compete to receive the control instruction.

[0041] After being processed, the control instructions received from the application manager are transmitted to the specific hardware execution circuit in the controller. The controller is integrated in the main loop to handle low-level specific hardware tasks. Its communication protocol provides communication between the application manager and the controller. This control method is not affected by the failure of the upper system manager and will not cause the paralysis of the entire system. Figure 1 shown.

[0042] An application manager is provided in front of each controller to configure the field equipment and comprehensively analyze and process the data transmitted by the field equipment.

[0043] At the same time, the system managers in the two automatic master-slave control units are connected via the first interface, and the application managers in the two automatic master-slave control units are connected via the second interface, that is:

[0044] The application manager can also communicate with other application managers through the second interface, and the system manager can communicate with other system managers through the first interface. These two interfaces can communicate with other automatic master-slave control units, thereby realizing a distributed control system.

[0045] After the system manager sets the control task, it sends it to the application manager. During initialization, multiple application managers of the same automatic master-slave control unit can achieve automatic master-slave control through competition. If the master application manager fails, a slave application manager can become the master application manager through competition.

[0046] When the communication between interfaces is analog, first determine the minimum communication bandwidth required by each interface. The calculation formula for the channel bandwidth required for analog transmission is:

[0047] ;

[0048] In the formula, It is the minimum rise time of analog quantity.

[0049] Each analog quantity requires a signal path to transmit the control signal and a return channel to transmit the status, so the analog quantity transmission signal bandwidth is at least:

[0050] .

[0051] When the signal is transmitted in the interface, the duty cycle can be used with the maximum accuracy of the transmitted signal. The number of digits is expressed as:

[0052] ;

[0053] here, is the signal transmission period. Because the duty cycle information is converted into a switching function in the pulse generator, the maximum rise time of the system here Set to:

[0054] .

[0055] The bandwidth required for each analog quantity is:

[0056] ;

[0057] In the formula, is the sampling frequency.

[0058] In this embodiment, the duty cycle is the proportion of the power-on time in a pulse cycle to the total time; the maximum rise time is the maximum time required for the signal to jump from a low level to a high level. These two parameters together affect the spectrum characteristics of signal transmission. For example, a shorter pulse width, that is, a lower duty cycle, may cause the signal to contain more high-frequency components, that is, the signal has a shorter rise time.

[0059] When the communication between interfaces is digital, the bandwidth is determined as:

[0060] The required channel bandwidth for each digital variable of sampled data can be described as:

[0061] ;

[0062] In the formula, is the ratio of sampling time to transmission time; is the binary bit of the measured variable.

[0063] Each interface has bandwidth when transmitting signals. The total bandwidth is the sum of the bandwidth required by each interface. The total bandwidth of communication between interfaces is:

[0064] .

[0065] When this embodiment is applied, the flexibility and unitarity of the control system are maximized through a two-level integrated control layer, and the communication requirements of different time and space communication interfaces are met.

[0066] Example 2

[0067] This embodiment introduces an experimental design of an electrical integrated control system for explosion-proof electric vehicles for coal mines, which can realize the local autonomy function of each layer of the system and realize the hierarchical nature of information exchange.

[0068] This embodiment introduces the communication channel setting of the power controller, which mainly includes the following steps:

[0069] Step 1: Define the power controller as a continuous time function, which is transmitted through an analog channel. The envelope of the Fourier spectrum expansion of the driving signal is as follows: Figure 2 shown.

[0070] Step 2: is the minimum rise time of the power controller. After that, the envelope of the spectrum will begin to The rate decrease has no significant impact on the transmitted signal, so the channel bandwidth required for power transmission is According to the method of drawing the spectrum envelope of the control system (the steps of drawing the Bode diagram), when the slope of the spectrum envelope is 60db / dec, the intersection with the horizontal axis can be obtained, which is .

[0071] Step 3: Set the sampling period to 2ms and the maximum precision of the signal transmission to , the duty cycle can be calculated using the following formula:

[0072] .

[0073] Step 4: Based on the calculation results of each analog quantity and digital quantity, use the following formula to calculate the total bandwidth required for each interface to achieve information exchange between each controller:

[0074] .

[0075] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0077] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0079] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. An electrical integrated control system for explosion-proof electric vehicles for coal mines, characterized in that: including a plurality of automatic master-slave control units; A plurality of automatic master-slave control units each include a system manager, an application manager and a controller; The system manager is connected in communication with the application manager to form a main control layer, and the application manager is connected in communication with the controller to form a slave control layer; The system managers in the two automatic master-slave control units are connected via a first interface, and the application managers in the two automatic master-slave control units are connected via a second interface.

2. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1 is characterized in that: When the system manager sends a control instruction, the application manager and other application managers compete to receive the control instruction; The application manager processes the received control instructions and sends them to the hardware execution circuit in the controller to execute the hardware tasks.

3. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: The controller at least includes a power supply controller, a chassis controller, a front and rear controller, an auxiliary driving controller, an on-board terminal controller and a vehicle controller.

4. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: The controllers are combined in different ways to perform different configurations of the vehicle.

5. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: The system manager and the application manager, as well as the application manager and the controller in the same automatic master-slave control unit are connected via bus communication.

6. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: When the communication between interfaces is analog, the bandwidth is: ； In the formula, is the sampling frequency; For maximum accuracy of transmitted signals.

7. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: When the communication between interfaces is digital, the bandwidth is: ； In the formula, is the ratio of sampling time to transmission time; is the sampling frequency; is the binary bit of the measured variable.

8. The electrical integrated control system for explosion-proof electric vehicles for coal mines according to claim 1, characterized in that: The total communication bandwidth between interfaces is: ； In the formula, is the sampling frequency; To achieve the maximum accuracy of the transmitted signal; is the ratio of sampling time to transmission time; is the binary bit of the measured variable.

Images