【作者】 林江；

【导师】 姜淑忠； 芮国洪；

【作者基本信息】 上海交通大学 ， 电气工程（专业学位）， 2019， 硕士

【摘要】 国家煤炭工业发展“十三五”规划提出构建煤炭工业体系,将提高煤炭行业自动化开采技术水平作为整个行业的发展目标。煤矿综采工作面的自动化技术水平是行业当前的最新发展方向,它是电控系统、性能可靠卓越、安全作业和生产工艺等一系列技术的集成。本文以电牵引采煤机的电控系统为研究和开发背景,以CAN总线为基本架构,构建基于ARM的分布式嵌入式系统。控制系统具有多传感信号系统,对各输入输出信号进行综合分析处理,实现采煤机自动割煤等自动化技术,这对降低综采工作面煤矿工人的工作强度,提高煤矿产量以及提升国内煤机技术都具有一定的理论和现实意义。本系统采用快速接插件模块化结构设计方案,主要包括主控模块、开关量模块、模拟量模块、语音模块、遥控模块、载波通讯模块、漏电检测模块和牵引控制模块。各个模块的硬件以STM32F107控制芯片为核心处理器,该芯片基于Cortex-M3微处理器内核,具有极高的性价比和简单易用的库开发方式,具有足够多的GPIO和通讯接口(USART、I2C、CAN、SPI)。各个功能模块在硬件开发上采用相同的处理器、电源电路和通讯电路,使开发工作高度统一,提高了系统的可靠性。系统的各个功能模块高度统一,本文采用μCOS-II嵌入式实时操作系统对各个模块进行软件开发。使用操作系统开发具有结构简单和可移植性好等特点。各个模块的CAN总线通讯接口硬件隔离,应用层采用CANopen协议。本文对各个模块特有功能进行详细说明,从软件上保证系统地可靠运行。控制系统在测试阶段经过不断完善,在现场工业性试验过程中表现良好,满足现场工况要求,极大地提高了综采工作面自动化水平。更多还原

【Abstract】 The National coal industry development“13^th Five-Year Plan”suggested setting up the coal industry system,and to make improving the automatic level of mining technology as the developing goal of the whole industry.The automation technology level of mechanized mining face represents the latest development direction of the international coal industry.It is a series of technological innovation and integrations of electronic control system,equipment stability and safety operation.In this paper,the author takes the electric control system of the electric traction shearer as the research and developing background,using CAN-BUS as the basic framework to build a multisensory system.By analyzing the input and output signal,it can achieve the automatic coal cutting technology for the shearer.This has certain theoretical and practical significance to lower the working strength of the coal miners,improves the level of automation technology and enhances domestic coal machine technology.The system adopts the modular design scheme of fast interpolation.It mainly consists of scheduling module,switching module,analog module,voice play module,remote control module,carrier communication module,leakage detection module and traction control module.The hardware of each module is based on the STM32F107control chip.The chip is based on the Cortex-M3 microcontroller kernel.It has a high cost performance and easy to use library development mode.It also has enough GPIO ports and multiplex communication interface（such as USART、I2C、CAN、SPI）.All the function modules adopt the same processor,power circuit and communication circuit,which make the development work highly unified and the reliability of the system improved.The functional modules of the system are highly unified.In this paper,the software development of each module is carried out by using the embedded real-time operating system,which has the characteristics of simple structure and good portability.The CAN bus communication interface of each module is isolated,and the application layer adopts the CANopen protocol.In this paper,the specific functions of each module are explained in detail,and the reliable operation of the system is guaranteed from the software.The control system is continuously perfected during the testing phase,and it performed well in the field industrial test.The system meets the requirements of field conditions,greatly improved the automatic level of fully mechanized working face.更多还原