基于以太网和CAN总线的液压支架电液控制系统研究

Research on electro-hydraulic control system of hydraulic support based on Ethernet and CAN-Bus

针对目前综采工作面液压支架电液控制系统的实时性差、可靠性低的问题,提出一种基于以太网和CAN总线的液压支架电液控制系统,构建了系统的整体架构,实现了总体程序。根据实际的工况对系统进行改进:分析了液压支架远程监控的工作特性,采用基于改进时分复用算法的TCP/IP通讯协议,从理论计算了工作面所有支架发送完成一次传感数据时间为260 ms,达到了远程监控实时性的要求;分析了液压支架邻架控制,采用基于动态优先级提升算法的CAN通讯协议,减少因总线碰撞而造成的系统实时性降低;控制系统的以太网与CAN总线可冗余通信,以提高系统通信可靠性。通过实验验证了支架控制器的通讯功能以及2种通讯方式的可替换性,证明了该系统具有较高的实时性和可靠性。

Based on the low reliability and real-time performance of current hydraulic support remote control system,a novel control system was proposed to combine Ethernet and CAN-bus,the system architecture was built and the program was implemented. According to the actual working condition,some improvements were achieved. The characteristics of hydraulic support control system was analyzed,and the TCP / IP communication protocol based on improved TDM was tested for estimating the theoretical loop time（ 260 ms）,which satisfied the communication requirement. The local control characteristics of hydraulic support were analyzed,the CAN-Bus communication based on dynamic priority algorithm was designed for reducing communication conflicts and low reliability. By combining TCP / IP and CAN-Bus,the redundant-ability and reliability were improved. Finally,the experiment was conducted to verify the communication function and prove the high reliability and real-time performance of hydraulic support control system.