大型矿用电铲控制框架设计

Design of Control Frame of Large Mining Shovel

大型矿用电铲是露天矿山开采的核心装备,具有体积庞大且结构复杂,作业环境恶劣等特点。提出了一种面向智能矿用电铲的最优轨迹挖掘流程控制的实现方法,基于太原重工集团WK-55电铲1∶7缩比例电铲实验平台上设计了一种PLC+基础变频传动的控制框架。通过上位机C++程序软件进行控制数据的计算,用Qt编写人机交互界面,完成上下位机通信,将控制指令和执行数据传输给下位机PLC。完成了长距离行走、物料挖掘、回转卸料、复位微调等分布调试以及实验对比分析,验证了控制框架的可行性,为电铲智能化奠定基础。

Large mining shovel is the core equipment of open-pit mining.It has the characteristics of huge volume,complex structure and bad working environment.An implementation method of optimal trajectory mining process control for intelligent mining shovel is proposed.Based on the 1∶7 scaled shovel experimental platform of wk-55 shovel of Taiyuan Heavy Industry Group,a PLC and basic variable frequency drive control framework is designed.The control data are calculated through the C++program software of the upper computers.QT is used to write the human-computer interaction interface,complete the communication between the upper and lower computers,and transmit the control instructions and execution data to the PLC.The distributed debugging and experimental comparative analysis of long-distance walking,material excavation,rotary unloading,reset and fine adjustment are completed,which verifies the feasibility of the control framework and lays a foundation for the intellectualization of the electric shovel.