基于嵌入式软PLC的掘进机控制系统设计

Design of roadheader control system based on embedded soft PLC

针对现有以普通PLC和专用控制器为核心的煤矿掘进机控制系统存在开发成本高、维护量大、跨平台移植难等问题,设计了一种基于嵌入式软PLC技术的掘进机控制系统,分析了系统的功能需求和实现原理,提出了以嵌入式软PLC为核心的控制系统架构。该系统通过实时操作系统的定制、软PLC运行时系统的移植及驱动组件的开发,实现了掘进机基本逻辑控制、全功能遥控和自动截割功能,可对掘进机状态进行实时监测,通过遥控器实现全功能远程遥控,通过设定断面形状、路径类型、巷道高度、巷道宽度和截割间距等参数实现巷道断面的自动截割成形等。相比于以PLC和专用控制器为核心的控制系统,采用嵌入式软PLC的掘进机控制系统可更好实现掘进机装备的标准统一和系统的组态开发,跨平台移植性好。测试结果证明该系统基本控制功能和遥控操作性能良好,自动截割断面边界最大误差小于10 cm。

In order to solve problems of high development cost,large maintenance and difficult cross-platform transplantation of existing coal mine roadheader control system taking ordinary PLCs and dedicated controllers as cores,a roadheader control system based on embedded soft PLC technology was designed.The functional requirements and implementation principles of the system were analyzed.The control system architecture taking embedded soft PLC as the core was put forward.The system realizes basic logic control,full-function remote control and automatic cutting function of the roadheader through the customization of real-time operating system,transplantation of the soft PLC runtime system and the development of the drive components.The system also can real-time monitor status of the roadheader,and can realize full-function remote control through the remote control,automatic cutting and shaping of the roadway section by setting parameters such as section shape,path type,roadway height,roadway width and cutting interval.Compared with the control system with PLC and dedicated controller as the core,the roadheader control system based on embedded soft PLC can better realize unified standard and system's configuration and development of roadheader equipment,which has good cross-platform portability.The test results show that basic control function and remote control operation of the system are good,and the maximum error of automatic cutting surface boundary is less than 10 cm.