液压支架电液控制系统总线通信故障检测与诊断方法

杨永锴; 张敏龙; 许春雨; 宋建成; 田慕琴; 宋单阳; 张晓海; 聂鸿霖

doi:10.13272/j.issn.1671-251x.2023040086

液压支架电液控制系统总线通信故障检测与诊断方法

doi: 10.13272/j.issn.1671-251x.2023040086

杨永锴^{1, 2,},
张敏龙³,
许春雨^{1, 2},
宋建成^{1, 2},
田慕琴^{1, 2},
宋单阳^{1, 2},
张晓海^{1, 2},
聂鸿霖^{1, 2}

1.
太原理工大学矿用智能电器技术国家地方联合工程实验室，山西太原　030024
2.
太原理工大学煤矿电气设备与智能控制山西省重点实验室，山西太原　030024
3.
晋能控股装备制造集团金鼎山西煤机有限责任公司支架制造分公司，山西晋城　048006

基金项目: 山西省1331工程“提质增效建设计划”（晋教科〔2021〕4号）。

详细信息

作者简介:
杨永锴（1999—），男，河北沧州人，硕士研究生，研究方向为矿用智能电器，E-mail：2810433741@qq.com

中图分类号: TD355
计量
- 文章访问数: 117
- HTML全文浏览量: 34
- PDF下载量: 13
- 被引次数: 0
出版历程
- 收稿日期: 2023-04-27
- 修回日期: 2023-12-08
- 网络出版日期: 2024-01-04

Fault detection and diagnosis method for bus communication in hydraulic support electro-hydraulic control system

YANG Yongkai^{1, 2
,},
ZHANG Minlong³,
XU Chunyu^{1, 2},
SONG Jiancheng^{1, 2},
TIAN Muqin^{1, 2},
SONG Danyang^{1, 2},
ZHANG Xiaohai^{1, 2},
NIE Honglin^{1, 2}

1.
National and Provincial Joint Engineering Laboratory of Mining Intelligent Electrical Apparatus Technology, Taiyuan University of Technology, Taiyuan 030024, China
2.
Shanxi Key Laboratory of Mining Electrical Equipment and Intelligent Control, Taiyuan University of Technology, Taiyuan 030024, China
3.
Support Manufacturing Branch, Jinneng Holding Equipment Manufacturing Group Jinding Shanxi Coal Machinery Co., Ltd., Jincheng 048006, China

摘要

摘要:
通信系统是综采工作面液压支架电液控制系统信息传递的通道与桥梁，目前多采用CAN总线作为通信总线，易受井下复杂电磁环境的干扰，导致支架控制器内部通信硬件出现故障，造成控制器“失联”现象，且CAN总线通信系统采用多主通信模式，单台控制器“失联”将导致整个电液控制系统无法正常工作，造成安全隐患。设计了CAN通信保护电路，可使通信系统在较大负载情况下稳定运行，在复杂环境中具有较强的抗干扰性。基于CAN总线通信协议，结合令牌环网思想，提出了CAN总线通信故障检测与诊断方法，通过合理设计数据的帧结构与故障检测方式，弥补了CAN总线通信模式下节点丢失时难以定位的缺陷，并将增加数据长度对传输负载的影响降到最低，确保良好的通信性能。以2台端头控制器配合6台液压支架控制器组成环网，通过上位机不定时下发命令模拟井下实际操作时总线真实的负载情况，对液压支架电液控制系统总线通信故障检测与诊断方法进行实验验证，结果表明：该方法对系统负载率的影响较低，不会影响系统的正常运行；当出现故障节点时，可在300 ms内检测出故障控制器并向全工作面报警，故障排除率达100%。
- 综采工作面 /
- 液压支架 /
- 电液控制系统 /
- CAN总线通信 /
- 令牌环网协议 /
- 故障检测 /
- 故障诊断
Abstract:
The communication system is the channel and bridge for information transmission in the hydraulic support electro-hydraulic control system of the fully mechanized mining face. Currently, CAN bus is commonly used as the communication bus. It is susceptible to interference from the complex electromagnetic environment underground, resulting in internal communication hardware failures of the support controller and causing the phenomenon of "disconnection" of the controller. In addition, the CAN bus communication system adopts a multi master communication mode. The disconnection of a single controller will cause the entire electro-hydraulic control system to malfunction, posing a safety hazard. A CAN communication protection circuit has been designed to ensure stable operation of the communication system under high load conditions and strong anti-interference capability in complex environments. A fault detection and diagnosis method for CAN bus communication is proposed based on the CAN bus communication protocol combined with the token ring network concept. By designing the frame structure and fault detection method of data reasonably, the defect of difficult positioning of nodes when lost in CAN bus communication mode is compensated. The impact of increasing data length on transmission load is minimized to ensure good communication performance. Two end controllers are combined with six hydraulic support controllers to form a ring network. The upper computer issues commands from time to time to simulate the actual load situation of the bus during underground operation. The experimental verification of the bus communication fault detection and diagnosis method for the hydraulic support electro-hydraulic control system is carried out. The results show that this method has a low impact on the system load rate and will not affect the normal operation of the system. When a faulty node occurs, the faulty controller can be detected within 300 ms and an alarm can be sent to the entire working face, with a fault elimination rate of 100%.
- fully mechanized mining face /
- hydraulic support /
- electrohydraulic control system /
- CAN bus communication /
- token ring network protocol /
- fault detection /
- fault diagnosis

HTML全文

图 1 液压支架电液控制系统结构

Figure 1. Structure of hydraulic support electro-hydraulic control system

下载: 全尺寸图片幻灯片

图 2 CAN通信保护电路

Figure 2. CAN communication protection circuit

下载: 全尺寸图片幻灯片

图 3 令牌环网工作原理

Figure 3. Working principle of token ring network

下载: 全尺寸图片幻灯片

图 4 CAN总线通信帧结构

Figure 4. Structure of CAN bus communication frame

下载: 全尺寸图片幻灯片

图 5 仲裁段功能

Figure 5. Function of arbitration section

下载: 全尺寸图片幻灯片

图 6 令牌传递工作流程

Figure 6. Token passing workflow

下载: 全尺寸图片幻灯片

图 7 CAN总线通信故障诊断流程

Figure 7. Fault diagnosis flow of CAN bus communication

下载: 全尺寸图片幻灯片

图 8 负载率变化曲线

Figure 8. Curve of load rate variation

下载: 全尺寸图片幻灯片

图 9 试验平台

Figure 9. Experimental platform

下载: 全尺寸图片幻灯片

图 10 试验结果

Figure 10. Experimental result

下载: 全尺寸图片幻灯片

图 11 总线负载率变化

Figure 11. Bus load rate variation

下载: 全尺寸图片幻灯片

表 1 安全等级划分

Table 1. Safety level classification

标志符ID28—25	信息类别	标志符ID28—25	信息类别
0000	急停命令	0011	支架动作信息
0001	闭锁命令	0100	令牌信息
0010	故障信息	0101—1111	智能化功能信息

下载: 导出CSV

参考文献(20)

[1]	王国法,范京道,徐亚军,等. 煤炭智能化开采关键技术创新进展与展望[J]. 工矿自动化,2018,44(2):5-12. WANG Guofa,FAN Jingdao,XU Yajun,et al. Innovation progress and prospect on key technologies of intelligent coal mining[J]. Industry and Mine Automation,2018,44(2):5-12.
[2]	王国法,杜毅博,徐亚军,等. 中国煤炭开采技术及装备 50 年发展与创新实践——纪念《煤炭科学技术》创刊50周年[J]. 煤炭科学技术,2023,51(1):1-18. WANG Guofa,DU Yibo,XU Yajun,et al. Development and innovation practice of China coal mining technology and equipment for 50 years:commemorate the 50th anniversary of the publication of Coal Science and Technology[J]. Coal Science and Technology,2023,51(1):1-18.
[3]	王国法,徐亚军,孟祥军,等. 智能化采煤工作面分类、分级评价指标体系[J]. 煤炭学报,2020,45(9):3033-3044. WANG Guofa,XU Yajun,MENG Xiangjun,et al. Specification,classification and grading evaluation index for smart longwall mining face[J]. Journal of China Coal Society,2020,45(9):3033-3044.
[4]	宋单阳,宋建成,田慕琴,等. 煤矿综采工作面液压支架电液控制技术的发展及应用[J]. 太原理工大学学报,2018,49(2):240-251. SONG Danyang,SONG Jiancheng,TIAN Muqin,et al. Development and application of electro-hydraulic control technology for hydraulic support in coal mine[J]. Journal of Taiyuan University of Technology,2018,49(2):240-251.
[5]	王书明,牛剑峰. 液压支架电液控制系统故障诊断技术研究[J]. 煤炭科学技术,2018,46(2):225-231. WANG Shuming,NIU Jianfeng. Study on fault diagnosis technology of electro-hydraulic control system applied in hydraulic powered support[J]. Coal Science and Technology,2018,46(2):225-231.
[6]	黄增波. 便携式煤矿井下CAN总线分析仪的设计与实现[J]. 煤矿安全,2022,53(1):134-138. HUANG Zengbo. Design and implementation of portable CAN bus analyzer in underground coal mine[J]. Safety in Coal Mines,2022,53(1):134-138.
[7]	张雪梅. 基于大数据的液压支架电液控制系统故障诊断[J]. 工矿自动化,2018,44(12):34-38. ZHANG Xuemei. Fault diagnosis for electro-hydraulic control system of hydraulic support based on big data[J]. Industry and Mine Automation,2018,44(12):34-38.
[8]	王书明. 液压支架电液控制系统透明通信网络系统设计[J]. 工矿自动化,2017,43(12):6-10. WANG Shuming. Design of transparent communication network system of electro-hydraulic control system of hydraulic support[J]. Industry and Mine Automation,2017,43(12):6-10.
[9]	高晋,田慕琴,许春雨,等. 基于双CAN总线的薄煤层液压支架电液控制系统研究[J]. 煤炭工程,2020,52(1):143-147. GAO Jin,TIAN Muqin,XU Chunyu,et al. Research on electro-hydraulic control system of thin coal seam hydraulic support based on double CAN bus[J]. Coal Engineering,2020,52(1):143-147.
[10]	高晋. 薄煤层液压支架电液控制系统的开发[D]. 太原:太原理工大学,2020. GAO Jin. Development of electro-hydraulic control system for thin coal seam hydraulic support[D]. Taiyuan:Taiyuan University of Technology,2020.
[11]	兰梦澈. 放顶煤液压支架电液控制系统的开发[D]. 太原:太原理工大学,2020. LAN Mengche. Development of electro-hydraulic control system for caving coal hydraulic supportwireless remote[D]. Taiyuan:Taiyuan University of Technology,2020.
[12]	李海龙. 电动汽车CAN总线实时性能研究[D]. 长春:吉林大学,2018. LI Hailong. Research on real-time performance of CAN bus in electric vehicle[D]. Changchun:Jilin University,2018.
[13]	汪佳彪,王忠宾,张霖,等. 基于以太网和CAN总线的液压支架电液控制系统研究[J]. 煤炭学报,2016,41(6):1575-1581. WANG Jiabiao,WANG Zhongbin,ZHANG Lin,et al. Research on electro-hydraulic control system of hydraulic support based on Ethernet and CAN-bus[J]. Journal of China Coal Society,2016,41(6):1575-1581.
[14]	陈良昌,张彦军,韦宏春. 基于光纤令牌总线的分布式数据监测系统设计[J]. 中国电子科学研究院学报,2020,15(8):761-765. doi: 10.3969/j.issn.1673-5692.2020.08.011 CHEN Liangchang,ZHANG Yanjun,WEI Hongchun. Design of distributed data monitoring system based on fiber token bus[J]. Journal of China Academy of Electronics and Information Technology,2020,15(8):761-765. doi: 10.3969/j.issn.1673-5692.2020.08.011
[15]	张海龙,李悦,王杰,等. CAN总线在小电流接地故障检测中的应用[J]. 计算机科学与应用,2020,10(4):676-681. doi: 10.12677/CSA.2020.104070 ZHANG Hailong,LI Yue,WANG Jie,et al. The application of CAN bus in the detection of small current ground fault[J]. Computer Science and Application,2020,10(4):676-681. doi: 10.12677/CSA.2020.104070
[16]	陈良昌. 面向令牌总线的测试关键技术研究[D]. 太原:中北大学,2021. CHEN Liangchang. Research on key technology of token bus-oriented testing[D]. Taiyuan:North University of China,2021.
[17]	李程文. 短波自组织令牌环组网研究[D]. 南昌:南昌大学,2020. LI Chengwen. Study of high-frequency ad hoc network based on token ring[D]. Nanchang:Nanchang University,2020.
[18]	布朋生. 基于CAN总线错误帧机制的矿用设备网络安全问题研究[J]. 煤矿机械,2022,43(4):41-44. BU Pengsheng. Research on network security problem of mining equipment based on CAN bus error frame mechanism[J]. Coal Mine Machinery,2022,43(4):41-44.
[19]	宋单阳,宋建成,陶心雅,等. 具有故障诊断功能的液压支架电液控制器通信系统[J]. 工矿自动化,2022,48(5):100-106. SONG Danyang,SONG Jiancheng,TAO Xinya,et al. Communication system of hydraulic support electro-hydraulic controller with fault diagnosis function[J]. Journal of Mine Automation,2022,48(5):100-106.
[20]	白永胜,牛剑峰. 液压支架电液控制通信网络系统透明化设计[J]. 煤炭科学技术,2018,46(9):183-187. BAI Yongsheng,NIU Jianfeng. Design of transparency of communication network system for electronic-hydraulic control system of hydraulic support[J]. Coal Science and Technology,2018,46(9):183-187.