Research On Intelligent Control Of Battery Monorail Crane

Since the conveying system's work efficiency has direct influence on colliery enterprises', the design automation of assistant conveying devices has become a criterion to weigh a coal mine has high automation degree or not. However, the assistant delivery equipment used by our coal mine company is far behind those used by foreigners. So it is one of critical tasks for local enterprises to improve safe, high efficient and intelligent facilities for assistant transporting. As a result of having fast speed, high efficiency superior carrying capacity, great adaptability and no pollution characteristics, explosion-proof battery monorail crane is one of the most important assistant conveyance devices of mines. Overseas, the equipment has being widely adopted. Interiorly, it just is old product imported several decades ago, and own researching intelligent new product has not emerged.Based on extensive literature and material both at home and abroad about battery monorail crane and interview survey on inland monorail crane manufacturer and enterprise users, this paper designed intelligent control system of battery monorail crane. According to the mechanical and electrical character of SRM, based on ARM9chip as the primary controller and SRM widely used in power-driven car as the driving motor, the system completes controlling assignment of SRM speed by torque sharing tactics, in which the speed controller, torque sharing module and current controller adopt respectively single neuron adaptive PID control, torque sharing function based on optimal adjusted online and closed-cycle P-ILC. On motor braking aspect, it has three braking tactics to improve safety performance------they are working braking based on CCC and CVC, auto-braking based on laser ranging and manual urgent braking.On aspect of hardware, in accordance with cost-performance-ratio, paper expounds the type chosen and fundamentals main hardware, such as controller, executor, sensor and touch panel, and gives the key circuit maps; On aspect of software, it firstly analyses the steps of creation of embedded Linux system crossing develop environment and transplanting of system, secondly gives the flow diagrams of main program, sampling filtering program, speed controlling program, auto-braking program and display program which are all in the electronic control system of the crane.This paper introduces SRM into the field of mining monorail crane, puts intelligent control technology and embedded technology in use of crane controlling, and adopts motor bearing temperature sensor and three braking tactics in a creative way, which improve the performance of crane and decrease probability of crane breakdown. This research complies with the develop trend of mining devices intelligence, promote nationalization of the explosion-proof battery monorail crane, reduce the cost of investment and maintenance for coal mine enterprises, raise production efficiency. It has a good economic benefit and practical use value.Figure [36] table [10] reference [40]...