CN103217978B - A kind of control method realizing hydraulic pressure bogie many cars group coordinative operation - Google Patents
A kind of control method realizing hydraulic pressure bogie many cars group coordinative operation Download PDFInfo
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Abstract
The present invention relates to a kind of control method realizing hydraulic pressure bogie many cars group coordinative operation, it can realize the unmanned automatic driving of tunnel trackless wheel type hydraulic bogie.Using ultrasound ripple range measurement principle, determine the position between car body and tunnel, the various information that the various information that car is measured by ultrasonic distance-measuring sensor is measured by ultrasonic distance-measuring sensor, send central processing unit to, processor goes out the body speed of vehicle of car relative to tunnel according to the program computation set, steering angle, run trace, the information such as path, and this positional information is uploaded to CAN system, call for rear car, the attitude information of front truck downloaded by rear car processor from CAN, according to the attitude information of front truck, processor carrys out the geometric parameter needed for computing tracking front truck movement locus according to control program, and then determine the movement locus of this car, reach the object of rear car from motion tracking front truck, thus realize the course changing control of split type load-bearing transport vehicle.
Description
Technical field
The invention belongs to observation and control technology field, relate to a kind of control method realizing hydraulic pressure bogie many cars group coordinative operation, it can realize the unmanned automatic driving of tunnel trackless wheel type hydraulic bogie.
Background technology
In mining, under mine, heavy digging, support apparatus often need to transport transfer workplace by hydraulic pressure bogie.Because the landform in tunnel is more complicated, narrow space, more difficult to the control of hydraulic pressure bogie in the process of transportation equipment.Existing underworkings hydraulic pressure bogie is by pilot steering, and in the process of actual motion, the special environment of underworkings very easily has an impact to driver.Due to underworkings narrow space, driver's spirit must keep long-time high concentration, if manipulate improper scratch and collision that bogie and wall or hydraulic prop equipment just may occur, and the serious accident such as even cause that tunnel subsides.Therefore, existing underworkings hydraulic pressure bogie is driven high to personnel requirement, has a big risk, and is difficult to the safety in production under the specific condition of guarantee down-hole.
Summary of the invention
The object of the invention is for solving the problem, a kind of control method realizing hydraulic pressure bogie many cars group coordinative operation is provided, the unmanned automatic driving of tunnel trackless wheel type hydraulic bogie many cars group can be realized based on this control method.
The present invention, from solving practical problems, have employed following technical scheme:
(1) hardware system comprises ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system and executive system;
(2) using ultrasound ripple range measurement principle, ultrasonic distance-measuring sensor is used to carry out the range information of Real-time Collection car body and wall, thus the relative position relation between car body and wall is determined, ultrasonic distance-measuring sensor have employed technological processing for explosion protection feature simultaneously, has adapted to the particular surroundings of down-hole;
(3) information measured by ultrasonic distance-measuring sensor of front truck, send central processing unit to, central processing unit is according to the information going out the body speed of vehicle of car relative to tunnel, steering angle, run trace, path with the program computation set, and this positional information is uploaded to CAN system, call for rear car;
(4) in motor train unit, each car has independently processor, the attitude information of front truck downloaded by rear car processor from CAN, according to the attitude information of front truck, processor carrys out the geometric parameter needed for computing tracking front truck movement locus according to control program, and then determine the movement locus of this car, reach the object of rear car from motion tracking front truck, and the distance of two cars keeps certain in the process of tracking motion;
(5) in motor train unit, each car joins end to end formation cascade system, the motion of front truck can by rear car Real time identification, rear car controls the motion of this car according to front truck attitude information, and the attitude information of rear car is uploaded to bus system again, thus make next car have the reference information of motion, realize the co-ordination of many cars group;
(6) processor of each car in motor train unit, on the basis of following the tracks of front truck movement locus, range information between the car body that this car of System ultrasonic distance-measuring sensor is measured and wall, in motor train unit each car hydraulic system in comprise PLC control system, ensure that rear car does not scratch with wall, collides by the attitude independently controlling the Hydraulic Elements such as each valve, pump, motor, adjust car of each car PLC, and realize the automatic deviation correction of car;
(7) keep straight on to realize each car of motor train unit, turn between coordinative operation, software systems adopt modular design, namely master routine can be divided into some pieces, each program block has different functions, and in routine library, have more extender block, by the combination of distinct program block, motor train unit can be made to complete different actions, thus expand the working range of motor train unit;
(8) the present invention can adopt single driving or manual remote control power source car, and follow-up load-carrying hydraulic car, from the operating type of motion tracking front truck track, also can adopt full-automatic unmanned driving's mode, avoids the potential safety hazard brought because of artificial driver behavior error.
Described central processing unit is ordinary electronic computing machine or industrial computer.
Described executive system is made up of each Hydraulic Elements of hydraulic pressure bogie, and the PLC of each car can control each Hydraulic Elements and perform corresponding actions.
Ultrasonic ranging system is made up of ultrasonic sensor, temperature compensator, A/D converter, can carry out enforcement measure car body and wall distance, and is electric signal by convert information; Ultrasonic sensor is made up of transmitter, receiver, and transmitter sends ultrasound wave, is received, calculate the distance between car and wall according to the mistiming of launching and receiving after wall bounce-back by receiver.The aerial velocity of propagation of ultrasound wave is known u, measures ultrasound wave and runs into from being transmitted into the mistiming t that barrier reflects this process.The mistiming recorded is multiplied with the velocity of sound distance that just can obtain passing by ultrasound wave two-way process, to find range from S be the half of sonic transmissions distance:
Receiver is by being converted into electric signal by ultrasonic signal, and transform electrical signals is digital signal by A/D converter.The signal that ultrasonic sensor exports is transferred to central processing unit through CAN fieldbus, central processing unit judges the pose of car according to the data that each sensor gathers, and send control signal according to judgement, control signal is transferred to each PLC by CAN fieldbus, PLC obtains control signal, output response signal, finally be transferred to each valve of hydraulic pressure bogie, pump, the electrical control gear of the Hydraulic Elements such as motor, thus hydraulic control element performs corresponding actions, and then control the motion of car, finally realize each workshop of motor train unit to coordinate to turn to, the object of keeping straight on.
According to GB50419-2007 " coal mine roadway section and cross design specification " 3.1.2 article regulation, cross-section shape of roadway can be divided into rectangle, trapezoidal, arch, the shape of a hoof and circle etc.; According to this design specifications 4.1.3 article regulation, the net section of haulage drift, by the transportation equipment run in tunnel and the size design needing the maximum package transported, and should should check by the maximum package size of transporting once in a while and draught capacity.Because in the width of hydraulic pressure bogie and mine, the width of main equipment is suitable, therefore can operation in the mine laneway meeting gb specification at hydraulic pressure bogie.According to this design specifications 4.3.2 article regulation, the safety clearance minimum value of the supporting of flexible transport equipment and tunnel lateral wall, pipeline, facility is 600mm, and the sensing range of ultrasonic ranging system contains 600mm.Meanwhile, this design specifications 4.1.1 article regulation, prevailing traffic lane and main air way, trackless drift must not lower than 2m, mining district preparation tunnel and large and medium-sized mine coal-cutting headentry, return airway, medium-thick seam, thick seam must not lower than 2m, and thin seam must not lower than 1.8m.Due to described control system hardware composition small volume, on the height of hydraulic pressure bogie without impact.In sum, the trackless wheel type hydraulic load-carrying motor train unit applying described motor train unit coordinative operation control system well can implement the coordinative operation turning to, keep straight in each workshop in underworkings, and can realize remote driving or unmanned automatic driving.
Because ultrasonic ranging belongs to contactless distance measurement technique, therefore in underworkings, there is good operability, the technology such as temperature compensation can be taked to process ultrasonic ranging signal, ensure its stability and accuracy; Motor train unit have employed CAN field bus technique, and the attitude information of each car can via the unimpeded real-time Transmission of bus system; For the form of motor train unit coordinative operation, devise motor train unit each workshop series winding and independently control model, make motor train unit become a controlled organic whole, each car has again certain independence simultaneously, is convenient to the cooperation control of motor train unit and the correction of bicycle; The software simulating of control thought have employed modular program design, and disparate modules realizes corresponding function, and the combination of disparate modules just can realize several functions, has widened the range of application of this control strategy; The control method of controller can adopt the methods such as fuzzy control, adaptive control, control, ANN (Artificial Neural Network) Control.
Advantage of the present invention is: apply the coordination craspedodrome that described motor train unit coordinative operation control strategy can realize trackless wheel type hydraulic bogie group in underworkings, the operation such as to turn to, and drive or unmanned automatic driving widenable to manual remote control, this control strategy well solves the problem that personnel in tunnel accurately can not manipulate hydraulic transporter, avoid the security risk that the operation of manual operation hydraulic pressure bogie brings, the operation that front truck followed by many cars group bicycle can be completed, well solve the driving problem of hydraulic pressure bogie in underworkings, many cars group is made to coordinate to turn to become possibility, improve down-hole mining, the efficiency of the transporting heavy equipments such as supporting, significantly increase reliability during transport.
Accompanying drawing explanation
Fig. 1 is ultrasonic distance-measuring sensor range measurement principle figure;
Fig. 2 is Bicycle body ultrasonic distance-measuring sensor distribution schematic diagram;
Fig. 3 is the walking schematic diagram of bicycle using ultrasound ripple range measurement system;
Fig. 4 is the many cars group coordinative operation schematic diagram applying described control strategy;
Fig. 5 is Unmanned Systems's entire block diagram;
Fig. 6 is bicycle control strategy process flow diagram;
Between Fig. 7 bicycle, attitude information transmits schematic diagram.
In figure: 1-transmitter, 2-receiver, 3-wall, 4-ultrasound wave emission line, 5-ultrasonic reflections line, 6-car body, 7-direct of travel.
Embodiment
1. ultrasonic ranging system
As shown in Figure 1, ultrasonic distance-measuring sensor is by 1 transmitter, and 2 receiver compositions, transmitter 1 sends ultrasound wave emission line 4, when ultrasound wave ray touches wall 3, can rebound, and receiver 2 is for receiving the ultrasound wave ray of bounce-back.Detect the ultrasound wave that sends from ultrasonic transmitter through time propagating into receiver of gas medium and two-way time.Two-way time is multiplied with the velocity of sound in gas medium, is exactly the distance of sonic transmissions, and find range from the half being sonic transmissions distance.This distance-finding method is contactless range finding, highly sensitive, can Real-time Collection range information, and the relative position for car body judges to provide in real time information reliably.Because ultrasound wave is propagated in atmosphere, under different temperatures, speed is different, can be processed by serviceability temperature compensation method signal of adjusting the distance, thus obtains more accurate range information.
Fig. 2 is Bicycle body ultrasonic distance-measuring sensor distribution schematic diagram.Car load employs 8 ultrasonic distance-measuring sensors, in order to the requirement of suitable solution, these distance measuring sensors are divided into former and later two directions, before F, FL, FR tri-sensors are respectively, left front, right front, B, BL, BR tri-sensors are respectively rear, left back, right back, and L, R two sensors is left and right.Eight ultrasonic distance-measuring sensors are distributed in vehicle body surrounding, and approximate measure goes out centered by car body, the range information of car body Edge Distance wall within the scope of vehicular platform level 360 °.
2. motor train unit coordinative operation control strategy
Fig. 3 is the walking schematic diagram of bicycle using ultrasound ripple range measurement system.Under craspedodrome state, 8 ultrasonic distance-measuring sensors gather the distance value of car body 6 pairs of walls 3, by controlling, make car body all the time along center line in roadway walking, and by constantly adjusting vehicle body attitude, keep car body all the time along center line movement.7 is body movement direction, indicates and determined by direction of motion 7 before and after 8 ultrasonic sensors, and sensor instrument distance direction is front sensors along body movement direction, otherwise is rear sensor.
The present invention before actual use, first to on-the-spot field survey, corrects distance measurement value with portable ultrasonic Wave ranging device.During real work, each sensor all arranges a threshold values according to on-the-spot real work situation, and this value is the reference frame judging car body and wall relative position.
Fig. 6 is bicycle control strategy process flow diagram.When after the direction of motion determining car, the front and back of sensor indicate and just determine.Before SF, SFL, SFR, SL, SR are respectively, the distance value of left front, right front, left and right part sensor measurement.Be first bus with bicycle and for automatic Pilot be example.As figure, first judge whether front portion has wall, if measured value SF is less than this sensor threshold values, then shows that front portion has wall to stop, now enter and turn to pattern; The absolute difference of left front distance and right front distance is again judged when being less than | SFL-SFR|, when this value is greater than threshold values, represent that car body front and rear part is excessively near apart from wall, now again judge the positive negativity of the nearly SFL-SFR of which lateral extent of car front distance, and then adopt center rotating to adjust attitude; When this value is less than threshold values, represent that car body front and rear part also has certain distance apart from wall, now judge left and right distance difference absolute value | SL-SR|, if this value is greater than the respective thresholds of setting, show that car body and wall are close to parallel, but too near a sidewall, now adopt and move in parallel to adjust attitude, if this value is less than the respective thresholds of setting, show that car body is near center line, now keep car body to keep straight on.
Other situation can be promoted by above-mentioned situation.This control strategy can be applied to other each car of non-first bus through corresponding adjustment.The range information of front truck is after ultrasonic ranging system measures, the posture information of this car is treated as by bicycle processor, this information is uploaded to bus, rear car is after the real-time attitude information downloading front truck from bus, rear car processor will according to setting program, make this car automatically follow front truck run trace to travel, and in the process travelled, require that the distance in two workshops keeps certain, then now just need the motion conditions of this car of bicycle independent regulation, control strategy then as Fig. 5 will play the effect of correction after improving to rear car, make rear car that certain spacing can be kept all the time to travel the tracking of front truck, and can not scratch because of deviation, clash into the situation of wall.And improve through corresponding, this control strategy can adapt to single driving, manual remote control is driven and unpiloted situation.The relative position of car body and wall can well be judged according to this control strategy.Due to the special construction of hydraulic pressure bogie, it can realize original place zero turn radius, the Eight characters turns to, the parallel special motion such as to move to right that moves to left, therefore good handling of hydraulic pressure bogie can be utilized to carry out motion control to it, thus car body is remained on center line in roadway move, and turn to flexibly.
Fig. 4 is the many cars group coordinative operation schematic diagram applying described control strategy.Respectively show in figure and coordinate to keep straight on and coordinate to turn to two kinds of situations.The present invention can be applicable to many cars series connection coordinative operation.As shown in Figure 4, connection between two cars can be chain connection, also can be flexible coupling, namely only connected by steel wire or soft mechanism, because the controller of the distance between each car by bicycle controls, therefore the present invention is not high to the connection request between two cars, and the coordinated movement of various economic factors between bicycle is controlled according to program setting by controller.Communication between bicycle is completed by CAN fieldbus, and like this, many cars group is just integrated as a whole, according to system debug, just can realize many cars work compound.Described invention employs open Interface design, according to the needs of operation, can increase and decrease the bicycle number of car group, and the information of whole car group can be observed and adjusted by a master controller (industrial computer or ordinary PC), can the duty of the whole car group of Real-Time Monitoring.
Fig. 5 is Unmanned Systems's entire block diagram.Hardware system of the present invention is divided into: ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system, action executing system etc.The range information of car body and wall is by ultrasonic ranging system Real-time Collection, the real time data measured is by the controller of bicycle, calculate and be uploaded to CAN system after being converted into digital attitude signal, the duty monitoring whole system is responsible for by central processing unit, the exchanging window of the control program of whole car group is also on central processing unit simultaneously, human-computer interaction interface is the intercommunion platform for motor train unit coordination operating system and engineering staff, the system uses visual programming software, engineering staff can add according to on-site actual situations or amendment corresponding program module, thus add the adaptive faculty of motor train unit coordination operating system described in this.
Fig. 7 is that between bicycle, information transmits schematic diagram.Control strategy described in this invention, core concept is that the attitude information of front truck can obtain in real time, and rear car can adjust the topworks of this car in real time after obtaining the real-time attitude information of front truck, thus reaches the object of track following, coordinative operation.
The present invention's invention can realize many cars group coordinated operation of underground trackless wheel type hydraulic bogie, applies the hauling operation that this invention can well implement hydraulic pressure bogie under the mines such as colliery.This invention according to on-the-spot real work situation, by man-machine interactive system adjustment automatic Pilot strategy, thus can add the scope of application of this invention.Open design can by the series connection of many cars group for overall, and realize the work compound of many cars group according to the program of system itself, therefore this invention has good practical value.And described control strategy can according to actual condition, Normal hydraulic flat-bed trailer many cars group work compound is applied to after change system program, can also realize that ordinary flat Che Duoche group has people to drive, manual remote control to drive and even unmanned, thus improve the utilization factor of equipment.Therefore, this invention has very wide application prospect at industrial circle.
Claims (5)
1. realize a control method for hydraulic pressure bogie many cars group coordinative operation, it is characterized in that:
(1) hardware system comprises ultrasonic ranging system, CAN field bus system, central processing unit, man-machine interactive system and executive system;
(2) use ultrasonic distance-measuring sensor to carry out the range information of Real-time Collection car body and wall, thus the relative position relation between car body and wall is determined;
(3) information measured by ultrasonic distance-measuring sensor of front truck, send central processing unit to, central processing unit goes out the information of car relative to the body speed of vehicle in tunnel, steering angle, run trace, path according to the program computation set, and this positional information is uploaded to CAN system, call for rear car;
(4) in motor train unit, each car has independently processor, the attitude information of front truck downloaded by rear car processor from CAN, according to the attitude information of front truck, processor carrys out the geometric parameter needed for computing tracking front truck movement locus according to control program, and then determine the movement locus of this car, reach the object of rear car from motion tracking front truck, and the distance of two cars keeps certain in the process of tracking motion;
(5) in motor train unit, each car joins end to end formation cascade system, the motion of front truck can by rear car Real time identification, rear car controls the motion of this car according to front truck attitude information, and the attitude information of rear car is uploaded to bus system again, thus make next car have the reference information of motion, realize the co-ordination of many cars group;
(6) processor of each car in motor train unit, on the basis of following the tracks of front truck movement locus, range information between the car body that this car of System ultrasonic distance-measuring sensor is measured and wall, in motor train unit each car hydraulic system in comprise PLC control system, ensure that rear car does not scratch with wall, collides by the attitude that the independence of the PLC in each vehicle hydraulic system controls, adjust car, and realize the automatic deviation correction of car.
2. the control method realizing hydraulic pressure bogie many cars group coordinative operation according to claim 1, is characterized in that: described central processing unit is ordinary electronic computing machine or industrial computer.
3. the control method realizing hydraulic pressure bogie many cars group coordinative operation according to claim 1, is characterized in that: described executive system is made up of each Hydraulic Elements of hydraulic pressure bogie.
4. the control method realizing hydraulic pressure bogie many cars group coordinative operation according to claim 1, it is characterized in that: ultrasonic ranging system is made up of ultrasonic sensor, temperature compensator, A/D converter, car body and wall distance are measured in real time, and is electric signal by convert information.
5. the control method realizing hydraulic pressure bogie many cars group coordinative operation according to claim 4, it is characterized in that: ultrasonic sensor is made up of transmitter, receiver, transmitter sends ultrasound wave, received by receiver after wall bounce-back, calculate the distance between car and wall according to the mistiming of launching and receiving.
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