CN207683529U - The unmanned control system of 65T electric locomotives - Google Patents
The unmanned control system of 65T electric locomotives Download PDFInfo
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- CN207683529U CN207683529U CN201820006316.5U CN201820006316U CN207683529U CN 207683529 U CN207683529 U CN 207683529U CN 201820006316 U CN201820006316 U CN 201820006316U CN 207683529 U CN207683529 U CN 207683529U
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Abstract
The unmanned control system of 65T electric locomotives, especially a kind of unmanned control system of 65T electric locomotives improving essential safety level.The utility model includes Vehicle Controller,CAN communication module,DCS redundant manipulators,Operation console,Railway label,Frequency converter and brake monitor,Operation console is established by optical-fibre communications with DCS redundant manipulators and is connected,CAN communication module is integrated in Vehicle Controller,DCS redundant manipulators are connected the CAN communication module for then recycling CAN to turn profinet protocol gateways and Vehicle Controller by wireless telecommunications and connected,Railway label is arranged in the passage tunnel of 65T electric locomotives and is communicated by radiofrequency signal and card reader,Card reader turns 485 protocol converters by CAN again and is connect with Vehicle Controller,Frequency converter and brake monitor are connect with Vehicle Controller respectively,Cruise module is integrated in Vehicle Controller,Automatic running module,Automatically to vehicle module and abnormality detection module.The utility model improves essential safety level, greatly improves organization of production efficiency.
Description
Technical field
The utility model is related to electric locomotive, especially a kind of improvement operating environment improves essential safety level, realizes net
Network, digitlization, visualized management substantially increase the unmanned control system of 65T electric locomotives of organization of production efficiency.
Background technology
Under current mine situation, underground mining becomes mainstream exploitation pattern, and domestic Large Underground metal mine uses
Electric locomotive is as main transporting equipment.Driver is in downhole electrical motor car manual drive.Ore drawing work scene ore drawing, electric locomotive driver are necessary
It is linked up with ore drawing work scene, cooperation.Production, tissue equivalent lead low, and are easy to load abnormal.Since subsurface environment is extremely severe,
There are major safety risks by downhole operations personnel, and occupational disease easily occurs.
Invention content
To be solved in the utility model is exactly the electric locomotive in existing mine, needs driver's onboard operation, working environment
Badly, and the low problem of efficiency, a kind of improvement operating environment is provided, it is horizontal to improve essential safety, realizes networking, number
Change, visualized management, substantially increases the unmanned control system of 65T electric locomotives of organization of production efficiency.
The unmanned control system of 65T electric locomotives of the utility model is mounted on 65T electric locomotives, for controlling 65T electricity
Locomotive work, it is characterised in that the control system include Vehicle Controller, CAN communication module, DCS redundant manipulators, operation console,
Railway label, frequency converter and brake monitor, operation console are arranged in control room, and operation console passes through with DCS redundant manipulators
Connection is established in optical-fibre communications, and CAN communication module is integrated in Vehicle Controller, and DCS redundant manipulators are connected by wireless telecommunications
Then CAN is recycled to turn the CAN communication module connection of profinet protocol gateways and Vehicle Controller, the setting of railway label exists
It is communicated in the passage tunnel of 65T electric locomotives and by radiofrequency signal and card reader, card reader turns 485 protocol conversions by CAN again
Device is connect with Vehicle Controller, and frequency converter and brake monitor are connect with Vehicle Controller respectively, is integrated in Vehicle Controller
Cruise module, automatic running module, automatically to vehicle module and abnormality detection module.
SIEMENS PLC is arranged in the operation console, the information of control handle and switch on acquisition operations platform, then will
Information is transmitted to underground DCS redundant manipulators, and Vehicle Controller realizes number by establishing communication connection with DCS redundant manipulators
According to transmission, the communications protocol between Vehicle Controller and DCS redundant manipulators is at the same time formulated, determines control command, state
The specific Content of communciation such as information.
The unmanned control system of 65T electric locomotives of the utility model, simple in structure, design science is easy to use, utilizes
Electric locomotive under operation console remote control mine, electric locomotive is interior by integrated various control module, to realize the constant speed of electric locomotive
Cruise, automatic running, automatically to functions such as vehicles, and monitoring motor truck position, fault condition in real time understands convenient for controllers
The operation conditions of electric locomotive can also be switched to remote manual control when necessary, improve essential safety level, realize network
Change, digitize, visualized management, substantially increases organization of production efficiency.
Description of the drawings
Fig. 1 is the utility model attachment structure schematic diagram.
Wherein, operation console 1, DCS redundant manipulators 2, Vehicle Controller 3, frequency converter 4, brake monitor 5, CAN communication mould
Block 6, cruise module 7, automatic running module 8, automatically to vehicle module 9, abnormality detection module 10.
Specific implementation mode
Embodiment 1：A kind of unmanned control system of 65T electric locomotives is mounted on 65T electric locomotives, for controlling 65T electricity
Locomotive work, the control system include Vehicle Controller 3, CAN communication module 6, DCS redundant manipulators 2, operation console 1, railway mark
Label, frequency converter 4 and brake monitor 5, operation console 1 are arranged in control room, and operation console 1 passes through light with DCS redundant manipulators 2
Connection is established in fibre communication, and CAN communication module 6 is integrated in Vehicle Controller 3, and DCS redundant manipulators 2 are connected by wireless telecommunications
Then it recycles CAN to turn profinet protocol gateways to connect with the CAN communication module 6 of Vehicle Controller 3, the setting of railway label exists
It is communicated in the passage tunnel of 65T electric locomotives and by radiofrequency signal and card reader, card reader turns 485 protocol conversions by CAN again
Device is connect with Vehicle Controller 3, and frequency converter 4 and brake monitor 5 are connect with Vehicle Controller 3 respectively, in Vehicle Controller 3
Integrate cruise module 7, automatic running module 8, automatically to vehicle module 9 and abnormality detection module 10.
SIEMENS PLC is arranged in operation console 1, the information of control handle and switch on acquisition operations platform 1, then by information
Underground DCS redundant manipulators 2 are transmitted to, Vehicle Controller 3 realizes data by establishing communication connection with DCS redundant manipulators 2
At the same time transmission formulates the communications protocol between Vehicle Controller 3 and DCS redundant manipulators 2, determines control command, state
The specific Content of communciation such as information.
Remote control personnel press cruise button, this command information is transferred to DCS redundancy controls by operation console 1 later
Device 2 processed, then to the cruise module 7 of Vehicle Controller 3, and then cruise instruction is executed, electric locomotive receives constant speed for the first time
Current vehicle speed information can be acquired when cruise instruction, then executes under conditions of cruise condition meets and is opened according to present speed
Beginning constant speed controls；Driver often gives a direction of advance instruction and increases 1km/h, Maximum speed limit 15km/h, often gives primary retreat
Instruction reduces 1km/h, minimum speed 0km/h；Cancel cruise state automatically if encountering the important fault messages such as alarm；
Vehicle Controller 3 is converted into frequency by speed information according to information such as wheel diameter, reduction box reduction ratio, power motor numbers of pole-pairs
Rate information gives frequency converter 4, and frequency converter 4 executes speed control mode, i.e. control targe is power motor rotating speed, so as to vehicle-mounted
Controller 3 can be precisely controlled speed.
Electric locomotive is according to different location informations, by being invoked at the position and speed that are woven in Vehicle Controller 3
Relationship program calculates the running speed for needing to control at this time, and corresponding speed information is slowed down according to wheel diameter automatically
Case reduction ratio, the information such as power motor number of pole-pairs are converted into frequency information and give frequency converter 4, and frequency converter 4 executes speed control
Pattern, so that speed can be precisely controlled；Speed is monitored in real time simultaneously, if actual vehicle speed exceeds setting value 2km/h,
Air damping scheme of adding is taken, and carries out PID adjustings, so as to can be rapidly by speed control in target interval；In order to realize
Stopping a train at a target point reduces speed now for 50 meters before from target location, and controller decelerates to 1km/h when instructing 2 meters from target location, then
Trailer system is disconnected immediately, puts into maximum air damping, is continued forward to walk 2 meters or so distances using inertia, is ensured electric locomotive energy
It is enough accurately to stop to designated position；During automatic running, electric locomotive can obtain the position of other electric locomotives by communication system in real time
Confidence ceases and all track switch information, and then carries out anticollision control automatically, real-time judge and front vehicles distance, if distance
Less than safety value, then input brake monitor 5 stops immediately；By the track switch information of acquisition and target location, automatic decision is worked as
Whether preceding track switch meets the routing information of target location, is stopped automatically if being unsatisfactory for or track switch itself is faulty
Vehicle, and the information that track switch is unsatisfactory for driving a vehicle is uploaded to operator by communication system.
Control system is at the uniform velocity controlled according to 1.0km/h speed automatically after receiving dress mine cruise instruction, is gone forward side by side
Enter to fill mine cruise state, Pneumatic brake systems parking is put into if receiving braking instruction, if receiving the finger that declutches
Order is then still at the uniform velocity travelled according to the dress mine cruise speed control motor vehicle set at this time；Driver often gives primary advance side
Increase 1km/h, Maximum speed limit 2km/h to instruction, often gives primary retrogressing instruction and reduce 1km/h, minimum speed limit 1km/h；Adjustment
Speed control value later is written in 3 power down memory block of Vehicle Controller, even if Vehicle Controller 3 re-power still according to
Speed after last time adjustment is controlled, so that dress mine speed is arranged automatically according to the driving habit of different people；Work as reception
Receive to cruise instruction, automatic running instruction or again dress mine cruise instruction cancellation dress mine cruise shape
State, into next given control model.
Electric locomotive under filling mine cruise state if receive automatically to vehicle instruct if receive declutch instruction when
The automatic fixed range that moves forward, this distance value are defaulted as 5.8 meters, reach after this distance value automatically into on-position；Driver
0.1 meter of a direction of advance instruction increase is often given, 7 meters of highest range line often gives and once retreats 0.1 meter of instruction reduction, minimum
4 meters of range line；Distance value after adjustment is written in controller power down memory block, even if motor vehicle controller re-powers still
It is controlled according to the distance value after last adjust, to be arranged automatically automatically to vehicle distance according to different drop shaft situations；
When fill mine cruise state cancel and again receive dress mine automatically to vehicle order when cancel automatically to car state.
Systems organization is made in all tunnel paths by electric locomotive, determines the starting section on each road；Electric locomotive is being run
In the process, Vehicle Controller 3 first suitably filters power motor rotating speed, it is ensured that rotating speed acquisition is accurate, then sharp again
Real-time speed is calculated by reduction ratio, wheel diameter with electric locomotive rotating speed, each cycle period of acquisition controller, then by vehicle
Speed carries out integral operation to the time, the changing value of vehicle location in each circulation time of computing controller, including advance side
To with direction of retreat, then determine specific location of the electric locomotive on each section.
All key components all arrange a railway label in tunnel, and the ID number of each label is unique, i.e., by sweeping
Some tag number retouched just can determine that the real-time position information of electric locomotive；All tag ID numbers and location information are entered into vehicle
In set controller 3, and corresponding program segment is established, if the label of scanning calls the program segment to be repaiied immediately in driving process
Positive electricity locomotive coordinate position prevents electric locomotive from increasing add up error during position is accumulative.
In electric locomotive operational process, to status information all in electric locomotive and currently by abnormality detection module 10
Operating mode is judged, if abnormal exception information is sent to where operator by communication system immediately of result of calculation is grasped
Make to be shown on platform 1, ensures that operator can observe car alarming state in real time.
Electric locomotive realizes electric locomotive using the empty composite braking mode of electricity, i.e. electric braking and the mutually coordinated use of air damping
Stablize, efficiently braking；Braking force control is carried out as unit of permutation vehicle；Vehicle Controller 3 gives braking instruction according to operation console 1
Calculate required brake force, preferred electric braking mode, i.e., ask required whole brake force to control for brake in braking process
Device 5, brake monitor 5 applies electric braking force accordingly, while practical electric braking force is fed back to Vehicle Controller 3；Vehicle-mounted control
Practical electric braking force is compared by device 3 with brake force needed for train, if electric braking force disclosure satisfy that electric locomotive brake demand,
Do not apply air damping then；If electric braking force, which cannot meet required brake force, Vehicle Controller 3 at this time, sends instructions to system
Movement controller 5 applies air damping, is supplemented by air brake force；When electric braking fails, all braking requirements are then whole
It is undertaken by brake monitor 5 by applying air brake force, the increase and reduction of brake force are given according to the braking of operating personnel
Depthkeeping degree is applied, and then the size for applying brake force is determined according to speed by PID adjusting under automatic operating state.
Electric locomotive turns CAN protocol converter using USB, writes electric locomotive debugging software with VB language, meets electric locomotive control
System items processed debug demand；Turn CAN protocol converter, establishment electric locomotive debugging using VB language and USB on computers
Monitoring programme receives what all Vehicle Controllers 3 in CAN bus were sent using all data bit information in communications protocol have been compiled
Data and DCS redundant manipulators 2 send control command information to CAN bus, so that Vehicle Controller 3 can receive, finally
Realize the function of all data monitorings and simulated operation person's debugging.
Vehicle Controller 3 supports CAN communication mode, and railway tag reader supports RS-485 communication modes, vehicle-mounted control
Device 3 and CAN processed turns 485 protocol converters and CANopen communications protocol is taken to be communicated, and Vehicle Controller 3 is main website, and CAN turns
485 protocol converters are slave station, and CAN turns 485 protocol converters and periodically sends data to Vehicle Controller 3, wherein including label
Id information, if the fault message of scanning to label information and CAN turns of 485 protocol converters；CAN turns 485 protocol converters
Modbus agreements are taken with railway tag reader, it is main website that CAN, which turns 485 protocol converters, and railway tag reader is slave station,
CAN turn 485 protocol converters every 100ms to railway tag reader read relevant information, including whether scan label with
And then tag ID number etc. is retransmited to Vehicle Controller 3.
Claims (2)
1. a kind of unmanned control system of 65T electric locomotives is mounted on 65T electric locomotives, for controlling the work of 65T electric locomotives,
It is characterized in that the control system includes Vehicle Controller（3）, CAN communication module（6）, DCS redundant manipulators（2）, operation console
（1）, railway label, frequency converter（4）And brake monitor（5）, operation console（1）It is arranged in control room, operation console（1）With
DCS redundant manipulators（2）It is established and is connected by optical-fibre communications, CAN communication module（6）It is integrated in Vehicle Controller（3）It is interior, DCS
Redundant manipulator（2）Then being connected by wireless telecommunications recycles CAN to turn profinet protocol gateways and Vehicle Controller（3）'s
CAN communication module（6）Connection, railway label are arranged in the passage tunnel of 65T electric locomotives and by radiofrequency signals and card reader
Communication, card reader turn 485 protocol converters and Vehicle Controller by CAN again（3）Connection, frequency converter（4）And control for brake
Device（5）Respectively with Vehicle Controller（3）Connection, Vehicle Controller（3）Interior integrated cruise module（7）, automatic running module
（8）, automatically to vehicle module（9）And abnormality detection module（10）.
2. the unmanned control system of 65T electric locomotives as described in claim 1, it is characterised in that the operation console（1）It is interior
Arrange SIEMENS PLC, acquisition operations platform（1）On control handle and switch information, then to communicate information to underground DCS superfluous
Remaining controller（2）, Vehicle Controller（3）By with DCS redundant manipulators（2）Communication connection is established, realizes data transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820006316.5U CN207683529U (en) | 2018-01-03 | 2018-01-03 | The unmanned control system of 65T electric locomotives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820006316.5U CN207683529U (en) | 2018-01-03 | 2018-01-03 | The unmanned control system of 65T electric locomotives |
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| CN207683529U true CN207683529U (en) | 2018-08-03 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110299046A (en) * | 2019-07-26 | 2019-10-01 | 卡斯柯信号有限公司 | Realize that rail hands over the method and apparatus of full-automatic unmanned driving's Train Control simulation system |
| CN110989556A (en) * | 2019-12-12 | 2020-04-10 | 交控科技股份有限公司 | Fault diagnosis method and system for vehicle-mounted equipment |
| CN111350537A (en) * | 2020-04-13 | 2020-06-30 | 丹东东方测控技术股份有限公司 | Wireless operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN111399586A (en) * | 2020-04-13 | 2020-07-10 | 丹东东方测控技术股份有限公司 | Operating handle of underground rail transportation unmanned ore drawing travelling crane |
| WO2021028571A1 (en) | 2019-08-14 | 2021-02-18 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Drive circuit for one or more optical transmitter components, receiver circuit for one or more optical receiving components for optical wireless communication, and method |
| CN114104043A (en) * | 2020-08-25 | 2022-03-01 | 比亚迪股份有限公司 | Method and device for controlling vehicle and vehicle |
| CN116248773A (en) * | 2023-03-09 | 2023-06-09 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
-
2018
- 2018-01-03 CN CN201820006316.5U patent/CN207683529U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110299046A (en) * | 2019-07-26 | 2019-10-01 | 卡斯柯信号有限公司 | Realize that rail hands over the method and apparatus of full-automatic unmanned driving's Train Control simulation system |
| WO2021028571A1 (en) | 2019-08-14 | 2021-02-18 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Drive circuit for one or more optical transmitter components, receiver circuit for one or more optical receiving components for optical wireless communication, and method |
| CN110989556A (en) * | 2019-12-12 | 2020-04-10 | 交控科技股份有限公司 | Fault diagnosis method and system for vehicle-mounted equipment |
| CN111350537A (en) * | 2020-04-13 | 2020-06-30 | 丹东东方测控技术股份有限公司 | Wireless operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN111399586A (en) * | 2020-04-13 | 2020-07-10 | 丹东东方测控技术股份有限公司 | Operating handle of underground rail transportation unmanned ore drawing travelling crane |
| CN114104043A (en) * | 2020-08-25 | 2022-03-01 | 比亚迪股份有限公司 | Method and device for controlling vehicle and vehicle |
| CN116248773A (en) * | 2023-03-09 | 2023-06-09 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
| CN116248773B (en) * | 2023-03-09 | 2024-06-04 | 北京速力科技有限公司 | Communication realization method for underground traffic control unit and underground mining mountain tramcar |
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