Linkage control system for positioning information and emergency plan of mine hoisting cage

Abstract

The invention relates to the field of industrial automatic control systems, and discloses a mine hoisting cage positioning information and emergency plan linkage control system, which comprises a conventional dynamic control unit and an absolute safety anchor point unit, the anchor point unit latches a continuous positioning value of a conventional unit when a binary anchor point sensor is triggered, and the absolute safety anchor point unit locks the continuous positioning value of the conventional unit when the binary anchor point sensor is triggered. The method comprises the following steps of: acquiring a theoretical reference value, comparing the theoretical reference value with the theoretical reference value to generate a drift calibration value, sending the drift calibration value to a conventional unit, and correcting a positioning reference by the conventional unit by using the drift calibration value. The online self-calibration of a control system is realized by using a safety anchor point, so that the safety unit is converted into an active calibrator; the accumulated drift of the high-precision sensor can be avoided during operation.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of mine hoist cage positioning information and emergency plan linkage control system, belong to industrial automatic control system technical field. BACKGROUND

[0002] Current in mine hoist this kind of control system with higher requirement for reliability, generally rely on high-precision continuous positioning sensor such as spindle encoder as its closed-loop control core feedback, main control system is based on this high-precision continuous position information, executes smooth acceleration and deceleration control and accurate leveling operation, it is a kind of common practice of current industrial automatic control;However, a common engineering practice is to establish the trigger logic of emergency plan such as anti-overwind, anti-collision also on this set of high-precision continuous positioning information, i.e. system operation is highly dependent on the accuracy of the core source, in the harsh conditions of mine, the reliability of such high-precision sensor in non-breakdown mode of failure, data drift or reference loss caused by dust, vibration or electromagnetic interference, the technical problem of control system arises at this time: when the core feedback occurs data drift, the running logic of control system itself can still be normal, but its dependent logical coordinate system has deviated from physical reality;Since the judgment reference of emergency plan also comes from this deviated coordinate system, it leads to the necessary emergency brake cannot be triggered correctly when the cage has actually rushed into the terminal protection zone, while the logical cognition of control system is still in the safety zone.

[0003] To solve this problem, the prior art also attempts to introduce an independent verification mechanism in the control method level, but its technical idea still has fundamental limitations, for example, the Chinese patent for invention with authorized publication number CN108861903B discloses a kind of mine hoist cage berth system and method, this scheme attempts to carry out double confirmation through a first position judgment module based on the continuous positioning length of steel wire rope and a second position judgment module based on berth position sensor, to improve the accuracy of berth parking, however, the core of this technical idea is a kind of end point verification logic, it only carries out one-time position comparison when the cage reaches the target berth, it cannot online calibrate the cumulative drift of continuous positioning sensor encoder as core feedback in running process, also does not establish an emergency mechanism that can real-time arbitrate the effectiveness of this logical coordinate system, therefore, when the continuous positioning source drifts, its conventional control logic acceleration and deceleration curve and emergency safety logic anti-overwind judgment still face the risk of synchronous failure.

[0004] Therefore, how to design a control system architecture, which can establish an independent physical reality reference outside a high-precision but easy-to-deviate logical coordinate system, and use the reference to arbitrate the effectiveness of the control logic itself, to avoid the failure of emergency plans caused by the inconsistency between logical cognition and physical reality, becomes a technical problem to be solved by the present application. SUMMARY

[0005] The present application provides a mine hoist cage positioning information and emergency plan linkage control system, which mainly aims to solve the problem that the control logic is inconsistent with the physical reality due to the deviation of the logical coordinate system in the existing control system, thereby causing the failure of the emergency plan.

[0006] To achieve the above-mentioned purpose, the present application provides a mine hoist cage positioning information and emergency plan linkage control system, which comprises:

[0007] A conventional dynamic control unit connected to the continuous positioning sensor, the conventional dynamic control unit is used to execute the conventional operation control of the cage based on the information of the continuous positioning sensor, and output the continuous positioning value representing the position of the cage;

[0008] An absolute safety anchor point unit connected to at least one binary anchor point sensor arranged at a key position of the cage, the absolute safety anchor point unit is used to receive the continuous positioning value; wherein the absolute safety anchor point unit is also used to latch the continuous positioning value output by the conventional dynamic control unit at the moment when the physical signal of the binary anchor point sensor is triggered; generate a drift calibration value based on the latched continuous positioning value and a pre-stored theoretical reference value; and send the drift calibration value to the conventional dynamic control unit;

[0009] The conventional dynamic control unit is also used to receive and apply the drift calibration value to correct the positioning reference for its conventional operation control.

[0010] Preferably, the pre-stored theoretical reference value is a theoretical coordinate value corresponding to the physical installation position of the binary anchor point sensor in the shaft, and the theoretical coordinate value is calibrated during system initialization and stored in the absolute safety anchor point unit.

[0011] Preferably, the absolute safety anchor point unit is also used to: store the theoretical action interval corresponding to the binary anchor point sensor; and perform anchor point sensor compliance verification based on the continuous positioning value and the physical signal of the binary anchor point sensor; and trigger a system maintenance warning when the continuous positioning value has crossed the theoretical action interval, but the physical signal of the binary anchor point sensor has not changed correspondingly.

[0012] Preferably, the rule for the absolute safety anchor point unit to generate the drift calibration value is: wherein is the drift calibration value, a continuously positioned value for latching, a pre-stored theoretical reference value.

[0013] Preferably, the regular dynamic control unit is further configured to output a regular logic state indicative of the cage position; the absolute safety anchor unit is further configured to receive the regular logic state; and the absolute safety anchor unit is further configured to: compare the physical signal of the binary anchor sensor with the regular logic state, perform a logic consistency check; and trigger the emergency plan when the physical signal and the regular logic state are logically inconsistent.

[0014] Preferably, the triggering of the emergency plan is achieved through a hardware arbitration link, which is configured to cut off the control output of the regular dynamic control unit and enforce a safety action.

[0015] Preferably, the regular dynamic control unit is further configured to output a working condition signal indicative of the cage operating condition; the absolute safety anchor unit is further configured to receive the working condition signal and perform a hierarchical arbitration based on the result of the judgment of the inconsistency between the working condition signal and the logic; wherein the hierarchical arbitration is triggering a hardware emergency brake when the cage is in a high-speed operating condition, and is triggering a safety convergence action when the cage is in a low-speed operating condition.

[0016] Preferably, the binary anchor sensor is an anchor sensor with an analog signal output, and the absolute safety anchor unit is further configured to receive and analyze the analog signal; internally generate a binary physical signal for performing the logic consistency check based on a preset threshold of the analog signal; and the absolute safety anchor unit is further configured to perform a predictive health degree diagnosis based on the comparison between one or more implicit signal features of the analog signal and a pre-stored baseline, and trigger a maintenance warning when the features deviate from the baseline.

[0017] Preferably, the regular dynamic control unit is further configured to output an activity signal, and the absolute safety anchor unit is further configured to perform a communication activity check on the activity signal before generating the drift calibration value, and also trigger the emergency plan when the activity signal indicates a communication failure.

[0018] Preferably, the continuously positioned sensor is an encoder, and the binary anchor sensor is a mechanical limit switch.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1、Control system by setting a conventional dynamic control unit and absolute safety anchor unit, to establish a new check dimension, no longer dependent on the comparison of two same type of positioning sensor information, but the conventional control unit based on continuous positioning information output by the conventional logic state and anchor unit obtained from the binary anchor sensor physical signal cross comparison, the core of this way, is the logic of the control system inside the cognitive and its external physical reality directly confrontation, when the two logic inconsistent, that is, the control system rather than just a sensor coordinate system and the physical reality has been out of sync, the emergency plan triggered at this time, is based on the fact that the integrity of the control system failure, rather than a single sensor fault judgment, thus solving the inherent defects of the emergency plan synchronous failure caused by the overall drift of the control coordinate system.

[0021] 2、The system architecture of the application, on the basis of the above-mentioned logical consistency check, further utilizes the continuous positioning value and working condition signal output by the conventional dynamic control unit, which enables the absolute safety anchor unit to have a dual coordination function when performing arbitration: first, using the information whether the continuous positioning value crosses the theoretical action interval to reversely diagnose whether the physical signal of the binary anchor sensor is stuck or fails, realizing self-health check of the last line of defense of the safety system; second, using the working condition signal to distinguish whether the cage is in high-speed operation or low-speed crawling when the logical inconsistency occurs. The coordination of this mechanism enables the system to perform hardware emergency braking in high-speed high-risk working conditions, and to perform safety convergence action in low-speed low-risk working conditions such as small drift, avoiding unnecessary rigid emergency stop, so that the control system ensures safety while taking into account the usability and economy of industrial operation.

[0022] 3、The system also realizes online self-calibration of the control system by using its safety check process. The absolute safety anchor unit is configured to latch the continuous positioning value sent by the conventional dynamic control unit at the moment when the cage normally passes through the binary anchor sensor and triggers its physical signal. By comparing the latched real-time value with the theoretical reference value of the anchor position, the system can automatically generate a drift calibration value representing the difference between the two. The calibration value is sent back to the conventional dynamic control unit to dynamically compensate for the positioning reference of its control algorithm. This way changes the safety anchor unit from a passive arbiter to an active calibration unit, so that the control system can periodically use low-precision physical anchors to eliminate the cumulative error of high-precision continuous positioning sensors and suppress the occurrence of coordinate system drift. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 The functional logic diagram of the safety arbitration and online self-calibration of the application;

[0024] Fig. 2 Positioning value and state relationship diagram for anchor point sensor compliance verification of the application;

[0025] Fig. 3 Two-unit hardware deployment and security arbitration link architecture diagram of the application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the application more clear, the application will be further described in detail below in combination with the drawings and specific embodiments, and it should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0027] The mine hoist cage positioning information and emergency plan linkage control system disclosed in the application, in its system architecture, contains a conventional dynamic control unit and an absolute safety anchor point unit. The conventional dynamic control unit is connected to a continuous positioning sensor, and its main function is to perform dynamic position closed-loop control of the cage under conventional operation conditions. The absolute safety anchor point unit is connected to a binary anchor point sensor arranged at a key physical position of the shaft, and its core function is to obtain the absolute physical position information of the cage, and to cross-check and safety arbitrate the control logic and positioning reference of the conventional dynamic control unit based on the information. In a specific engineering implementation, the conventional dynamic control unit can be an industrial programmable logic controller (PLC) or a dedicated motion controller. The continuous positioning sensor connected thereto can adopt a high-resolution absolute value encoder installed on the main shaft of the hoist to provide continuous positioning values representing the position of the cage. The absolute safety anchor point unit can adopt an independent safety PLC or an authenticated safety relay module. The binary anchor point sensor connected thereto is preferably a high-reliability heavy mechanical limit switch or a strong anti-interference magnetic induction switch, which is physically installed at the terminal limit position or the leveling reference position of the shaft to provide reliable binary physical signals representing whether the cage has reached the physical point. In the conventional operation of the system, the conventional dynamic control unit performs S-curve acceleration and deceleration and precise leveling control of the cage based on the continuous positioning values output by the encoder, and simultaneously sends the continuous positioning values calculated by it to the absolute safety anchor point unit in real time through the control system bus or an independent safety communication link.

[0028] To address the cumulative drift issue caused by vibration, slippage, or temperature in high-precision continuous positioning sensors, this control system implements an online self-calibration during normal operation. This function relies on a reference calibration procedure executed during system initialization. This procedure determines the theoretical reference value of the binary anchor point sensor. Specifically, during system commissioning, the cage is precisely moved to the physical trigger position of the binary anchor point sensor. At this time, maintenance personnel trigger a calibration command. Upon receiving this command, the absolute safety anchor point unit reads and stores a theoretical coordinate value provided by the conventional dynamic control unit or manually verified, and uses this value as the theoretical reference value. The theoretical reference value is stored internally and is solidified after the system's initial commissioning or replacement of the binary anchor point sensor. The calibration procedure is as follows: Place the hoisting system in maintenance mode. Operate the cage at the lowest jogging speed, such as 0.1 m / s, to precisely move it to the physical trigger critical point of the target binary anchor point sensor. This critical point is confirmed by shaft maintenance personnel using an independent, calibrated external measuring tool, such as a laser rangefinder, for physical positioning. The cage is stopped the instant the physical signal changes. At this time, the main control room operator must not use the current reading of the continuous positioning sensor. Instead, on the human-machine interface of the absolute safety anchor point unit, manually input the absolute theoretical coordinate value measured by the external measuring tool or based on the mine engineering drawings, such as 300.000 meters, and trigger the calibration confirmation command. The absolute safety anchor point unit then uses this manually input coordinate value as its calibration confirmation value. The absolute safety anchor unit stores the data in its non-volatile memory and immediately forces the conventional dynamic control unit to perform a baseline alignment, ensuring that the absolute reference for all subsequent online calibrations originates from absolute measurements in the physical world. After the system is put into operation, whenever the cage passes through the anchor point normally and triggers the physical signal of the binary anchor point sensor, the absolute safety anchor point unit immediately latches its current continuous positioning value received from the conventional dynamic control unit, denoted as... The anchor unit internally performs a subtraction operation to generate the drift calibration value. The calculation rule is as follows: ,in, This is the drift calibration value. These are the continuously latched location values. These are pre-stored theoretical benchmark values; The value is sent back to the conventional dynamic control unit, which receives and applies it. The value is used as a dynamic compensation bias in its positioning control algorithm to correct its positioning reference.

[0029] To cope with the systematic risk that the logic cognition of the control system is out of touch with the physical reality due to the loss of positioning reference, the system establishes a safety arbitration mechanism based on logic consistency check. For this purpose, the regular dynamic control unit is also used to output a regular logic state representing the position of the cage, which is the position state determined by the unit based on the continuous positioning value (i.e. its logic cognition). Taking a binary signal as an example, 0 represents the safe zone and 1 represents the terminal forbidden zone. The absolute safety anchor unit receives this regular logic state in real time and continuously checks the logic consistency between it and the physical signal of the binary anchor sensor. When the physical signal and the regular logic state are logically inconsistent, the physical signal of the binary anchor sensor has been triggered (state 1), while the regular logic state reported by the regular dynamic control unit is still in the safe zone (state 0). The absolute safety anchor unit then determines that the integrity of the control system has failed and immediately triggers the emergency plan. The triggering of the emergency plan is realized through a hardware arbitration link independent of the regular control bus. The hardware arbitration link can be composed of the forced guide contacts of the safety relay, which immediately cuts off the control output of the regular dynamic control unit to the main drive system of the elevator and forces the safety braking action. To further improve the robustness of the system, the absolute safety anchor unit is also used to diagnose the input of itself, i.e. the health of the binary anchor sensor. For this purpose, the anchor unit also stores the theoretical action interval corresponding to the binary anchor sensor in its internal memory. This interval is based on the coordinate system of the continuous positioning value and is calibrated at the initialization. It can be a coordinate range, such as [99.5m, 100.5m]. During operation, the anchor unit uses the received continuous positioning value and the physical signal of the binary anchor sensor to perform compliance check of the anchor sensor. When it monitors that the continuous positioning value has completely crossed the theoretical action interval, but the physical signal of the binary anchor sensor has not changed correspondingly (e.g. always OFF), it determines that the anchor sensor may have physical jamming. At this time, the anchor unit will trigger an independent system maintenance warning. To make the safety arbitration take into account both safety and operational availability, the regular dynamic control unit is also used to output a working condition signal representing the working condition of the cage, which is a state code indicating high-speed operation or low-speed crawling. When the absolute safety anchor unit performs logic consistency check and determines that there is inconsistency, it will further perform hierarchical arbitration based on the received working condition signal. Specifically, when the cage is in high-speed operation condition, the result of hierarchical arbitration is to immediately trigger the hardware arbitration link to perform emergency braking. When the cage is in low-speed operation condition, such as leveling or maintenance, hierarchical arbitration triggers a safety convergence action to force the system to enter a preset safe crawling speed.

[0030] The safety convergence action triggered under low speed working condition is a step-by-step zero speed holding sequence: the absolute safety anchor unit immediately forces the speed setpoint of the regular dynamic control unit to be 0 m / s through the hardware arbitration link or the highest priority safety bus message when it determines that a low speed logic inconsistency occurs; then, the regular dynamic control unit executes its regular S-shaped braking curve to smoothly decelerate the cage to zero speed after receiving the zero speed instruction; finally, the absolute safety anchor unit immediately triggers the zero speed holding function of the main drive system of the hoist and confirms that the safety brake is in the normally closed state after the speed feedback of the regular dynamic control unit confirms that the cage is in the zero speed state, and the system triggers a lock alarm for logic inconsistency, requiring the operator to physically confirm the cage position on site and perform a reference reset operation before the safety lock state can be released; in a preferred system configuration, the binary anchor sensor can use an anchor sensor with analog signal output, such as an inductive or magnetic proximity switch, whose output is a continuous signal of 4-20 mA; at this time, the absolute safety anchor unit has an analog input channel for real-time reception and analysis of the analog signal; internally, the anchor unit generates a binary physical signal based on a preset threshold of the analog signal, such as greater than 15 mA, which is used to perform the logic consistency check described above; and the anchor unit also uses the normal operation of the control system to capture the complete waveform of the analog signal every time the cage passes, and extract one or more implicit signal characteristics such as signal peak value, rising slope, etc.; the anchor unit compares these real-time characteristics with the health baseline pre-existing in its internal to perform predictive health diagnosis; when the characteristics deviate from the baseline, it indicates that the physical installation of the sensor may be loose, and the anchor unit triggers a maintenance warning, thereby providing an early warning before the safety component fails completely; to ensure the integrity of the communication link between the control systems, the regular dynamic control unit is also used to periodically output an active signal, which can be a 100 ms flip signal or an incremental counter; the absolute safety anchor unit is used to perform communication activity check on the active signal before executing any control logic based on the data of the regular unit; if the active signal is not detected within a preset time limit, such as 500 ms, it is determined that the control communication has failed, at which time the absolute safety anchor unit also considers this state as the highest priority system integrity failure and immediately triggers the emergency plan.

[0031] Example 1: This example is an operation instance of the control system in a specific working condition, especially showing the cooperative self-calibration mechanism between the regular dynamic control unit and the absolute safety anchor unit, which solves the problem of cumulative drift of high-precision continuous positioning sensors in the control system. In a long-term operation condition of a mine hoist control system, the continuous positioning sensor connected to the regular dynamic control unit, i.e., the main shaft encoder, has accumulated a +0.15-meter positioning reference drift after continuous operation for several days due to dust, vibration in the shaft, and slight slip of the steel wire rope. That is, its logical coordinate system is offset by +0.15 meters compared to the physical reality as a whole, but the regular dynamic control unit itself does not perceive this drift. When the cage is descending to a certain level at the bottom of the shaft in a regular operation, the physical structure of the cage triggers a binary anchor sensor installed at this position. This sensor is a high-reliability mechanical limit switch, which has been calibrated at system initialization with a corresponding theoretical reference value of 300.00 meters stored in the absolute safety anchor unit.

[0032] At the moment when the physical signal of the binary anchor sensor is triggered, the control logic of the absolute safety anchor unit starts to execute, which immediately latches the continuous positioning value sent by the regular dynamic control unit in real time at this moment. Due to the +0.15-meter drift, the latched continuous positioning value is actually 300.15 meters. The absolute safety anchor unit then internally executes the calibration value generation procedure to calculate , i.e., ; this +0.15-meter drift is the cumulative drift calibration value of the current control system; the absolute safety anchor unit sends this drift calibration value back to the regular dynamic control unit through the communication link; the regular dynamic control unit receives and applies this +0.15-meter calibration value as a dynamic bias to real-time correct the positioning reference for its regular operation control, making its internal logical coordinate system realign with the physical reality; this process is automatically completed during normal system operation without any manual intervention or shutdown operation. This control system architecture periodically calibrates the reference of high-precision but easily drifting continuous positioning sensors online through low-precision but physically absolutely reliable binary anchor sensors during operation, enabling the absolute safety anchor unit to actively calibrate the regular dynamic control unit, suppressing the occurrence of positioning reference drift without sacrificing the dynamic control performance of the system, and avoiding the accumulation of the drift to a dangerous level and triggering subsequent logic consistency verification or emergency braking.

[0033] ​Embodiment 2: This embodiment provides test data to verify the control system of the present application, in particular the safety arbitration effectiveness of its logic consistency check and hierarchical arbitration mechanism when facing the deviation between the logical cognition of the control system and the physical reality; the test platform is built as a hardware-in-the-loop simulation environment of a mine hoist system, which includes: an industrial PLC as a conventional dynamic control unit, which runs the standard hoist control logic; a safety PLC as an absolute safety anchor unit; a high-precision servo motor simulating the main shaft of the hoist, which has a continuous positioning sensor, i.e. the signal of the encoder, sent to the conventional dynamic control unit; a separate signal generator for simulating the signal of the continuous positioning sensor and capable of injecting controllable cumulative drift and signal noise into it; and a binary anchor sensor installed at a physical position of 300.00 meters in the simulated shaft, i.e. a mechanical limit switch, whose signal is independently sent to the absolute safety anchor unit; between the conventional dynamic control unit and the absolute safety anchor unit, a communication link for transmitting continuous positioning values, conventional logic states, working condition signals and active signals is established according to the specific embodiment, and a separate hardware arbitration link is also established; the test sets up two control groups and two test groups, control group 1 uses the conventional control system without the absolute safety anchor unit, and control group 2 uses the control system of the present application but forces to bypass its logic consistency check function and only retains the online self-calibration function of embodiment 1; test group 1 and test group 2 both use the complete control system of the present application; the test procedure is to run 1000 hoist cycles for all groups, and a cumulative drift of -0.40 meters is injected into the continuous positioning sensor signal of the control system of control group 2, test group 1 and test group 2 to simulate the overall deviation of the logic coordinate system caused by long-term operation of the encoder; control group 1 is not injected with drift and serves as the ideal working condition benchmark; at the 1001th cycle, the cages of all groups run at high speed in the upward direction (physical position greater than 300.00 meters) and make their physical position pass through the binary anchor sensor by 0.10 meters to reach 300.10 meters, and when the physical position of the cage reaches 300.10 meters, the key state parameters of each control system are collected, and the test data are shown in Table 1.

[0034] Table 1: Safety arbitration comparison test table of the control system under cumulative drift working condition

[0035]

[0036] The test data show that the control logic of the control group 1 can correctly trigger the brake in the ideal working condition without drift; and the control group 2, because the logic coordinate system of the control system has drifted by-0.40 meters, when the physical position reaches 300.10 meters, the continuous positioning value is displayed as 299.70 meters, which causes the conventional dynamic control unit to incorrectly judge that it is still in the safety zone, that is, the conventional logic state is 0, so the conventional emergency plan fails, and the brake fails to operate; the test group 1 and the test group 2 also have cognitive misplacement of the conventional dynamic control unit in the same working condition of-0.40-meter drift, and the conventional logic state is 0; but the absolute safety anchor point unit receives the binary anchor point physical signal as 1, that is, it has been triggered, which is inconsistent with the received conventional logic state 0; the logic inconsistency is judged by the absolute safety anchor point unit as a control system integrity failure, and the current working condition is high-speed operation, so the highest priority emergency plan is triggered through the hardware arbitration link, thereby avoiding the accident.

[0037] To further verify the hierarchical arbitration function, the-0.40-meter drift of the test group 2 is maintained, the running condition is switched to low-speed crawling, and the test group 2 is made to slowly cross the anchor point; the data show that when the physical position reaches 300.10 meters, the absolute safety anchor point unit also detects the logic inconsistency of 0!=1, but because the working condition signal is low speed, the system does not perform rigid emergency braking, but automatically triggers the safety convergence action, forces the control system to enter the zero-speed holding state and issues a reset alarm, which avoids unnecessary mechanical impact in the low-speed working condition on the premise of ensuring safety; the above test data objectively prove that the control system architecture solves the defect that the emergency plan of the conventional control system fails simultaneously due to the dependence on a single drift source, and the hierarchical arbitration mechanism can balance safety and operational availability in different running conditions.

[0038] Embodiment 3: This embodiment adopts a conventional control system architecture representing the prior art, which only includes a conventional dynamic control unit and a continuous positioning sensor, that is, an encoder, connected thereto; all conventional running control logic and emergency plan logic of the system are built-in in the conventional dynamic control unit, and completely depend on the continuous positioning value for judgment; the control example does not contain the absolute safety anchor point unit of the present application, and therefore does not have the functions of logic consistency checking and online self-calibration; the same test platform and test procedure as in embodiment 2 are adopted, that is, a-0.40-meter cumulative drift is injected into the continuous positioning sensor signal of the conventional control system by a signal generator, to simulate the logic coordinate system offset of the sensor after long-term operation; the control simulation cage is run in a high-speed running condition, so that its physical position crosses the physical limit point of 300.00 meters and reaches 300.10 meters; in this working condition, the state of the conventional control system is collected, and the results are shown in Table 2.

[0039] Table 2: Safety arbitration test table of conventional control system under cumulative drift working condition

[0040]

[0041] The data shows that when the continuous positioning sensor as the only source occurs a reference drift of -0.40 meters, the logic coordinate system inside the conventional control system is offset as a whole, and the continuous positioning value (299.70 meters) it perceives lags behind the physical reality (300.10 meters); since its built-in emergency plan logic also relies on this drifted data for judgment, the control system determines that 299.70 meters does not exceed the limit value of 300.00 meters, so its emergency plan logic cannot be triggered correctly, the system fails to act, and the cage is in a physically overwinding state while the control system continues to run, which is consistent with the inherent defects described in the background art.

[0042] Embodiment 4: This embodiment combines Figs. 1 to 3 the linkage control system of mine hoist cage positioning information and emergency plan, as shown in Fig. 1 , the system receives continuous positioning values from continuous positioning sensors such as encoders, and binary anchor point physical signals from binary anchor point sensors such as mechanical limit switches, the conventional dynamic control unit is responsible for executing conventional operation control such as S-shaped acceleration and deceleration and precise leveling, and outputs continuous positioning values, conventional logic states and working condition signals, the absolute safety anchor point unit obtains binary anchor point physical signals and performs cross-checking and arbitration on the conventional unit, on the one hand, the anchor point unit generates a drift calibration value and sends it to the conventional dynamic control unit for online calibration, on the other hand, the anchor point unit performs logic consistency checking, compares the conventional logic state with the binary anchor point physical signal, if the logic is consistent, it is determined to be safe, if the logic is inconsistent, it starts hierarchical arbitration, hierarchical arbitration triggers hardware emergency braking under high-speed working condition and safety convergence action under low-speed working condition, in addition, the absolute safety anchor point unit also performs anchor point sensor compliance checking and triggers system maintenance warning when detecting anchor point sensor failure.

[0043] As shown in Fig. 2 , the continuous positioning value is indicated by a solid line, the pre-marked theoretical action interval is indicated by a dashed line, and the binary anchor point sensor state is indicated by a dotted line, as can be seen in the figure, when the continuous positioning value runs from bottom to top and crosses the theoretical action interval, the binary anchor point sensor state also jumps from OFF state to ON state accordingly, this data relationship is the reference for the anchor point unit to perform compliance checking, if the continuous positioning value has crossed the interval but the sensor state has not changed accordingly, system maintenance warning is triggered; as shown in Fig. 3As shown, the system is physically separated into three areas located in the hoist room, the main control room and the shaft. The continuous positioning sensor installed in the hoist room sends its continuous positioning signal to the conventional dynamic control unit industrial PLC in the main control room. The binary anchor point sensor such as the terminal limit position and the leveling reference position located in the shaft sends its binary anchor point physical signal to the absolute safety anchor point unit independent safety PLC in the main control room. The conventional dynamic control unit and the absolute safety anchor point unit exchange continuous positioning values, working conditions and other information through the control system bus in the main control room. The anchor point unit sends the drift calibration value to the conventional unit in the reverse direction. On the control output, the conventional dynamic control unit controls the hoist main drive system through the conventional control output link, while the absolute safety anchor point unit sends the forced safety braking instruction to the hoist main drive system through an independent hardware arbitration link when necessary.

[0044] Embodiment 5: This embodiment provides a set of standardized engineering procedures for calibrating key logical parameters of the control system in the initial deployment or maintenance debugging phase. The calibration procedure of this embodiment is used to determine the theoretical action interval for the anchor point sensor compliance verification logic. The calibration object is a binary anchor point sensor installed at the physical position of 100.00 meters in the shaft. The calibration input is the continuous positioning value output by the conventional dynamic control unit. The calibration is performed when the control system is in the maintenance calibration mode. In the calibration operation, the control system controls the cage to run at a preset low-speed crawling working condition of 0.2 meters per second, so that it slowly approaches and passes through the physical position of the binary anchor point sensor from bottom to top, i.e. upward. The absolute safety anchor point unit monitors the physical signal state of the binary anchor point sensor at a sampling period of 10 milliseconds during this process, and immediately latches the continuous positioning value transmitted by the conventional dynamic control unit at the moment when the signal changes from OFF to ON, which is recorded as . The control cage continues to run upward by 2 meters, and then reverses, i.e. downward, to pass through the anchor point at the same low-speed crawling working condition. The anchor point unit immediately latches the corresponding continuous positioning value at the moment when it monitors that the physical signal changes from ON to OFF, which is recorded as . This upward triggering and downward resetting process is repeated 10 times to obtain a set of original data sets reflecting the actual measurement fluctuations and mechanical hysteresis of the control system. After 10 measurements, the collected data sets are as follows: all values range between [99.96 meters, 99.99 meters], and the minimum value is 99.96 meters; all values range between [99.85 meters, 99.88 meters], and the maximum value is 99.88 meters. The absolute safety anchor point unit executes an internal algorithm to determine the theoretical action interval, the steps of which are as follows: obtaining the upward triggering minimum value (99.96 meters) and the downward resetting maximum value (99.88 meters); Next, an engineering safety margin embedded in the control system is applied. Its value is set to 0.30 meters; finally, the lower limit of the calculation interval is... Meters, and calculate the upper limit of the interval. The control system will ultimately store [99.58 meters, 100.26 meters] as the theoretical operating range of the anchor point in the absolute safety anchor point unit.

[0045] Meanwhile, the specific control logic for the anchor sensor compliance verification in this unit is determined to be: introducing a status confirmation counter. Its value is set to 5; when the control system is monitoring, when the continuous positioning value is continuous All sampling points (corresponding to a 10-millisecond sampling period, i.e., a total duration of 50 milliseconds) fall within this interval. In addition, if the physical signal of the corresponding binary anchor point sensor does not change as expected—for example, if the continuous positioning value is above the upper limit of the interval but the physical signal is not triggered to ON, or if the continuous positioning value is below the lower limit of the interval but the physical signal is not reset to OFF—then the control system determines that the anchor point sensor has failed or is stuck, and triggers a system maintenance warning. The introduction of counting is used to avoid misjudgments caused by momentary jitter in the control signal; then, the control system executes a preset time limit to determine the communication activity verification. The calibration procedure; the setting of this time limit needs to balance the timeliness of fault detection with the possibility of false alarms caused by occasional network jitter; during the control system integration test phase, the lifting system is operated under maximum load and maximum speed conditions, while the control network, here placed on the PROFIsafe bus, is under maximum communication load; under this stress test, the round-trip loop delay time of the active signal between the conventional dynamic control unit and the absolute safety anchor unit is monitored for 1 hour, and its maximum value within the test cycle is recorded and determined. In this test, the actual measurement The time is 112 milliseconds; a safety factor is applied to the control system. (Its value is set to 4.5) to calculate the final time limit. The calculation formula is as follows: in, For the preset time limit, For safety reasons, This is the measured maximum loop delay time; calculated based on this. In engineering practice, the control system rounds up to a standard monitoring cycle, and the preset time limit is finally determined and fixed to 510 milliseconds. During operation, if the absolute safety anchor point unit does not receive a valid change in the active signal for more than 510 milliseconds, it will determine that the communication has failed and trigger the emergency plan.

[0046] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those ordinarily skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.

Claims

1. A linkage control system of mine hoist cage positioning information and emergency plan, characterized in that, The system includes: The conventional dynamic control unit is connected to the continuous positioning sensor. The conventional dynamic control unit is used to perform conventional operation control of the cage based on the information of the continuous positioning sensor, and outputs continuous positioning values ​​that characterize the position of the cage. An absolute safety anchor unit is connected to at least one binary anchor sensor located at a critical position in the cage. The absolute safety anchor unit is used to receive continuous positioning values. Furthermore, when the physical signal of the binary anchor sensor is triggered, the absolute safety anchor unit latches the continuous positioning values ​​output by the conventional dynamic control unit; based on the latched continuous positioning values ​​and pre-stored theoretical reference values, it generates drift calibration values; and sends the drift calibration values ​​to the conventional dynamic control unit. The conventional dynamic control unit is also used to receive and apply drift calibration values ​​to correct the positioning reference on which its conventional operation control is based.

2. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The pre-stored theoretical reference value is the theoretical coordinate value corresponding to the physical installation position of the binary anchor point sensor in the wellbore. The theoretical coordinate value is calibrated and stored in the absolute safety anchor point unit during system initialization.

3. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The absolute safety anchor point unit is also used to: store the theoretical operating range corresponding to the binary anchor point sensor; perform anchor point sensor compliance verification based on the continuous positioning value and the physical signal of the binary anchor point sensor; and trigger a system maintenance warning when the continuous positioning value has crossed the theoretical operating range and the physical signal of the binary anchor point sensor has not changed accordingly.

4. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The rule for the absolute secure anchor unit to generate the drift calibration value is: wherein, is the drift calibration value, is the latched continuous positioning value, is the pre-stored theoretical reference value.

5. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The conventional dynamic control unit is also used to output a conventional logic state characterizing the position of the cage; the absolute safety anchor unit is also used to receive the conventional logic state; and the absolute safety anchor unit is also used to: compare the physical signal of the binary anchor sensor with the conventional logic state, perform a logic consistency check; and trigger an emergency plan when the physical signal and the conventional logic state are logically inconsistent.

6. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 5, characterized in that, The emergency response plan is triggered through a hardware arbitration link, which is used to cut off the control output of the conventional dynamic control unit and enforce safety actions.

7. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 5, characterized in that, The conventional dynamic control unit is also used to output operating condition signals that characterize the operating conditions of the cage; the absolute safety anchor point unit is also used to receive operating condition signals and perform hierarchical arbitration based on the judgment result of the inconsistency between the operating condition signals and the logic; when the cage is in a high-speed operating condition, the hierarchical arbitration is to trigger the hardware emergency braking, while when the cage is in a low-speed operating condition, the hierarchical arbitration is to trigger the safety convergence action.

8. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 5, characterized in that, The binary anchor sensor is an anchor sensor with analog signal output. The absolute safety anchor unit is also used to receive and analyze the analog signal. Internally, based on a preset threshold of the analog signal, it generates a binary physical signal for performing logical consistency verification. The absolute safety anchor unit is also used to perform predictive health diagnosis based on the comparison of one or more implicit signal features of the analog signal with a pre-stored baseline, and to trigger maintenance warnings when the features deviate from the baseline.

9. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The conventional dynamic control unit is also used for outputting an activity signal, the absolute safety anchor point unit is also used for performing a communication activity check on the activity signal before performing the drift calibration value generation, and when the activity signal indicates communication failure, an emergency plan is also triggered.

10. The linkage control system of mine hoist cage positioning information and emergency plan according to claim 1, characterized in that, The continuous positioning sensor is an encoder, and the binary anchor point sensor is a mechanical limit switch.

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