无人大型矿用电铲实验平台控制系统硬件设计

Hardware design of control system for unmanned large-scale mining electric shovel experimental platform

大型矿用挖掘机是露天矿山开采系统中的核心装备,其综合性能直接决定着整个矿山的开采效率.人工操作时由于电铲体积巨大、作业过程振动剧烈等,会影响挖掘机的综合挖掘效率.针对传统大型矿用挖掘机在复杂矿山环境下综合挖掘效率低、无法实现高效开采等问题,进行了一个无人大型矿用电铲实验平台控制系统的硬件设计与搭建,该实验平台控制系统下位机是由PLC控制变频器分别驱动各工作电机,使用绝对值编码器、倾角传感器等传感器设备,实现对电铲各执行机构的运动闭环控制.同时搭建了实验样机的远程控制系统,其中分别设计有挖掘/行走模式、本地/远程模式转换按钮.该实验平台的搭建为后续进行无人大型矿用电铲智能化研究奠定了硬件基础.

Large-scale mining excavators are the core equipment in the open-pit mining system,and their comprehensive performance directly determines the mining efficiency of the entire mine.During manual operation,due to the huge size of the electric shovel and severe vibration during operation,the overall digging efficiency of the excavator will be affected.Aiming at the problems of low overall digging efficiency and inability to achieve high-efficiency mining in the complex mining environment of traditional large-scale mining excavators,the hardware design and construction of the control system of an unmanned large-scale mining electric shovel experimental platform are conducted.The lower position machine for the control system of the experimental platform controls a PLC frequency converter to drive each working motor separately,and uses sensor equipment such as absolute encoders,inclination sensors,etc.to achieve closed-loop control of the motion of each actuator of the electric shovel.At the same time,a remote control system of the experimental prototype is built,in which buttons are designed for mining/walking mode and local/remote mode conversion.The construction of this experimental platform lays the hardware foundation for the subsequent intelligent research of unmanned large-scale mining electric shovel.