井下巷道电缆安装车自适应挂缆控制系统设计与开发

Design and Development of Adaptive Cable Hanging Control System of Cable Installation Truck Used in Coal Mine Underground Roadway [HS)]

摘要:

针对目前煤矿井下巷道人力牵引敷设电缆方式劳动强度大、电缆易磨损及工作效率低等问题,依据井下巷道环境以及井下电缆安装车的结构,设计并开发了井下巷道电缆安装车自适应挂缆控制系统,以机械化、自动化技术解放工人的繁重劳动；系统以C8051F020单片机为主控单元,采用手动控制和自动控制结合、手动控制优先的控制策略,融入记忆学习的智能思想,实现井下巷道电缆自动悬挂；阐述了系统的工作原理、软硬件设计及实现；实验室性能测试结果表明,位移测量误差±2%以内,挂缆机械手能够按照手动、自动的要求正确动作并准确挂缆,实现电缆的自适应悬挂。

Abstract:

Typically, the cable hanging in coal mine underground roadway mainly relies on human traction. By this method to install mining cables, there are many conspicuous shortcomings, such as high labor intensity, serious cable wearing, lower work efficiency and so on. Referring to the environment of underground roadway and the structure of the cable installation truck used in coal mine, the adaptive cable hanging control system (ACHCS) used in cable installation truck was designed and developed so as to liberate human heavy labor by mechanization and automation. Using C8051F020 single-chip computer as a main control unit, and taking the combination of manual and automatic control models as the main control strategy but manual control model being priority,the intelligent thought was integrated into the ACHCS to carry out the adaptive cable hanging.The working principle, the hardware and software of the ACHCS were introduced in detail in this paper. It has been verified by the laboratory experiments that the cable hanging manipulator can be operated correctly, hung cables accurately and automatically.