National and Provincial Joint Engineering Laboratory of Mining Intelligent Electrical Apparatus Technology, Taiyuan University of Technology
Shanxi Key Laboratory of Mining Electrical Equipment and Intelligent Control, Taiyuan University of Technology
Shanxi Jincheng Anthracite Mining Group Jinding Mining and Machinery Co., Ltd.

随着无人值守智能化综采工作面建设的不断推进，对液压支架电液控制系统的自动化控制功能提出了更高的技术要求。基于目前国内开发的电液控制技术在满足智能化生产技术要求方面，存在通信速率低、响应不及时和可靠性差等问题，开发了一种基于32位处理器的液压支架电液控制系统端头控制器，设计了基于工业以太网和CAN总线的端头控制器通信架构。根据无人值守智能化综采工作面具有智能感知、智能决策和自动控制的技术要求，在端头控制器中设计了参数巡检、参数修改、在线升级和跟机自动控制功能。为了应对智能化综采工作面对液压支架电液控制系统数据标准化、规范化的要求，端头控制器可以对液压支架电液控制系统产生的数据按照基于位号的数据编码标准进行编码。通过综采工作面“三机”实验平台进行实验，结果表明：端头控制器从发出巡检指令到接收到实验平台27台支架控制器的数据，整个过程用时1.8 s，比使用RS485通信实现参数巡检快1.5 s；端头控制器发送的升级程序大小为38 KiB，传输时间为1.2 s。经过测试，综采工作面所有支架控制器从接收升级命令到一起升级成功用时为4~6 s，达到了预期目标；端头控制器可以根据采煤机位置控制相应液压支架做出正确动作，且能够满足实时性要求。

With the continuous promotion of the construction of unmanned automated fully intelligent mechanized working faces, higher technical requirements have been put forward for the automation control function of the hydraulic support electrohydraulic control system. The electrohydraulic control technology developed in China has problems such as low communication speed, delayed response, and poor reliability in meeting the requirements of intelligent production technology. An end controller for the electrohydraulic control system of hydraulic support based on a 32-bit processor has been developed. A communication architecture of the end controller based on industrial Ethernet and CAN bus has been designed. According to the technical requirements of intelligent perception, intelligent decision-making, and automatic control for unmanned intelligent mechanized working faces, parameter inspection, parameter modification, online upgrade, and control functions of automatic follow-up have been designed in the end controller. In order to meet the requirements of standardization and normalization of data in the hydraulic support electrohydraulic control system in intelligent fully mechanized working faces, the end controller can encode the data generated by the hydraulic support electrohydraulic control system according to the data encoding standard based on tag numbers. Through the experiment on the "three machines" experimental platform of fully mechanized working faces, the results show the following points. The entire process from issuing inspection instructions to receiving data from 27 support controllers on the experimental platform takes 1.8 s for the end controller. It is 1.5 s faster than using RS485 communication to achieve parameter inspection. The size of the upgrade program sent by the end controller is 38 KiB and the transmission time is 1.2 s. After testing, it takes 4-6 s for all support controllers in the fully mechanized working face to receive the upgrade command and successfully upgrade together, achieving the expected goal. The end controller can control the corresponding hydraulic support to make correct actions based on the position of the shearer. It can meet real-time requirements.

山西省1331工程“提质增效建设计划”项目（晋教科〔2021〕4号）。

张晓海，田慕琴，张敏龙，等. 智能工作面液压支架电液控制系统端头控制器设计[J]. 工矿自动化，2023，49(8)：30-36.

ZHANG Xiaohai, TIAN Muqin, ZHANG Minlong, et al. Design of end controller for the electrohydraulic control system of intelligent working face hydraulic support[J]. Journal of Mine Automation，2023，49(8)：30-36.