Study On Electrohydraulic Control System Of Hydraulic Support Based On Industrial Ethernet

As one of the key equipment for intelligent mining in fully mechanized mining face,hydraulic support is mainly responsible for supporting the roof of the working face and following the operation of the shearer independently.The hydraulic support electrohydraulic control system is a necessary support platform for achieving intelligent control of hydraulic support.At present,the hydraulic support electrohydraulic control system mainly communicates through CAN bus and RS485 bus,and most controllers use ARM Cortex-M core microcontroller(such as STM32)as the core controller.With the development of coal mine intelligence,the hydraulic support electrohydraulic control system needs to have advanced functions such as remote monitoring,speech recognition,image processing,etc.The above communication methods and core controllers can no longer meet the requirements.Therefore,this project develops a network type hydraulic support controller with ARM Cortex-A core CPU as the core control unit,Linux as the core operating system,and POWERLINK industrial Ethernet as the communication bus.In addition,in order to achieve the control of the straightness between the scraper conveyor and the working surface,it is urgent to design control algorithms to achieve precise positioning control of the pushing oil cylinder when developing the hydraulic support electrohydraulic control system.The main research content of the thesis is as follows:(1)Completed the overall design of the hydraulic support electro-hydraulic control system and controller based on industrial Ethernet.Clarified the composition of the hydraulic support electro-hydraulic control system,selected the IMX6 ULL chip as the main controller,and completed the construction,transplantation,and driver design of the Linux system.(2)Completed the development of network type hydraulic support controller application software.The main control program adopts Linux multithreading method to achieve simultaneous multitasking,and at the same time,CAN communication between the main controller and the valve driver is achieved through Socket CAN socket programming.Research the communication method and industrial Ethernet communication model of network type hydraulic support,and optimize the synchronization of industrial Ethernet using clock synchronization algorithm.(3)Designed a positioning control algorithm for the push cylinder under the control of an electrohydraulic directional valve.Analyzed the working principle of the electrohydraulic directional valve and the composition of the positioning control system for the push cylinder.Through mathematical modeling of the electrohydraulic directional valve and the push cylinder,designed adaptive parameter estimation and neural network prediction learning algorithms to achieve precise positioning control of the push cylinder.(4)A software testing platform for hydraulic support controller and an experimental platform for positioning control of the pushing oil cylinder were built.The master control,human-machine interface and valve driver were jointly tested,and the industrial Ethernet master slave communication was tested.The data was captured and analyzed through the Network tomography tool Wireshark,and the designed push cylinder positioning control algorithm was integrated into the controller to verify the feasibility of the algorithm.There are 81 figures,10 tables and 110 references in the dissertation.