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英文原文Telecontrol of a continuous mining machine in thin coal seamsAugust J. Kwitowski, Albert L. Brautigam, and William D. MonaghanU.S. Department of the Interior Bureau of Mines Pittsburgh Research Center Pittsburgh, PA 15236Abstract-Telecontrol is a technology providing significant safety improvements in mining, by relocating machine operators hundreds of meters away from the immediate health and safety hazards. The U. S. Bureau of Mines recently developed and patented a telecontrol system for underground room-and-pillar mining. This system features near-real-time closed-loop control. A demonstration system was constructed that can be wed in thin-seam applications down to 914 mm. Details are provided on he developed telecontrol system, with the emphasis placed on the programmable logic controller-based electronic control system.1 IntroductionIn remote control continuous mining, the operator does not normally sit on the machine. This operator is typically located 3.05 - 15.24 m from the working face and communicates with the machine using a hard-wired pendant control or a radio transmitter with complement machine-based receiver. The operator receives direct operational cues via human senses like vision, hearing, and feel.Telecontrol (teleoperation), as used here, is the computer-based, distant control of mine machinery from a protected operator compartment located out of the line of site. The teleoperator responds to sensory information from a remote mining machine and makes corrections by moving control devices (usually switches). This initiates electronic control commands that, when received and interpreted, cause the appropriate remote machine function(s) to occur. Without question, telecontrol increases the safety of mining machine operators. This technology removes the operators from the hazardous immediate face area to a much safer location. In underground mining, the working face area contains many hazards. Unexpected roof falls can maim or kill miners instantly. Methane and coal dust explosions can be touched off with just a small spark or flame. Long-term health effects can result from miners breathing coal and silica dust and hearing loss can be caused by long-term exposure to noise pollution. Additional hazards are related to heavy mining equipment moving about in confined underground roadways that accommodate other workers. A goal of this work was to remove the operators of thin-seam continuous mining machines from these hazards.2 Previous workThe Bureau of Mines has been active in telecontrol research since 1979. A major milestone was achieved in 1989 when, following development and surface testing, a teleoperated highwall mining system (THMS) was evaluated at a cooperators field site 1. THMS subsystems included: (1) a Jeffrey Model 102HP thin-seam continuous miner, (2) a continuous haulage coal conveying system, (3) the teleoperators station, (4) the computer-based control system, and (5) support equipment located on the bench 2,3. The THMS could penetrate the highwall to a depth of 84 IIL. This was limited by the length of the continuous haulage system. A simple, line-of-sight laser alignment system was used to guide the THMS on a straight course. The THMS employed a unique, ergonomically designed, operator control station, shown in Figure 1, and required only three workers. To insure safety, none of the operating personnel were located in the mine entries. The THMS was developed as a combined effort of the Bureau and a cooperator, S.H.S., Inc. of Morgantown, WV. Fig. 1. Operator workstation The THMS was used as the basis for the design of a teleoperated, thin-seam, deep-mining system (TTDS). The TTDS used many of the same design features and hardware as the THMS. The most significant changes to the telecontrol system involved the teleoperators station and the electronic control system. A design goal was to fit the teleoperators station in an underground location where the vertical height was limited to 744 mm. The significant reduction in available vertical height between the THMS and the TTDS required substantial changes be made in the layout of the station and in the selection of display devices. The THMS used a distributed microcontroller system network based on the Intel BITBUS series. This system suffered from significant time delays between both (1) the activation of a control and the actuation of a machine function and (2) the detection of the change in a sensor data and the corresponding display of that change to the operator. This system was also difficult to program. These faults were corrected by the selection of a programmable logic controller-based electronic control system for the TTDS .3 Teleoperated thin-seam deep mining system Figure 2 shows a conceptual drawing of the complete TTDS. The TTDS fits the description for a mining system that was granted U.S. Patent No. 5,161,857 entitled Teleoperated Control System for Underground Room and Pillar Mining. Because the TTDS is to fit and operate in thin-seam (as low as 914 mm), deep, room-and-pillar applications, all the subsystems designs are unique. These subsystems include (1) a modified continuous miner, (2) a continuous haulage system, (3) a control station, (4) a computer-based teleoperating system, (5) a cable and hose handling module (6) an electrical, hydraulic, and air distribution module, and (7) a ventilation system. The ITDS is intended to be operated by two or more workers located in the belt entry.4 TTDS EquipmentThe teleoperated thin-seam continuous mining machine (CMM) is a modified Jeffrey Model 101MC. Modifications made for telecontrol included: (1) selection, packaging, installation and wiring of sensors, (2) packing and installation of a video subsystem, and (3) packing, mounting, and wiring of a slave computer and sensor processing electronics . The TTDS design includes a continuous haulage system; however, no decision on a specific system was made. Of the commercial units available, Joy Technologies 3 Flexible Conveyer Train (3FCT) appears suitable. Modification of the 3FCT to make it fully compatible with the design of the TTDS would include (1) lowering the profile to operate within 914 mm coal seams, (2) revising the tracking to follow automatically the CMM, and (3) providing function control through the telecontrol system. The teleoperators station houses the human operator and electronic controls. The operator sits in a reclined position. The height of the prototype compartment measures 838 mm, the width is 1524 mm, and the length is 2438 mm. Although the current compartment height is 838 mm, reducing the design of the profile by 75 mm is possible by lowering the operator control panel and seat configuration. The adjustable canopy vertical position and operators seat, permit the teleoperated system to be usable in higher seams. The planned location of this compartment is outby in the belt entry under supported roof. The station is not self-powered and requires other machinery to drag or carry it.Additional moduls are required for the TTDS. These include (1) a unit that contains motorized reels for winding and unwinding hoses and cables and (2) a unit to supply electrical, hydraulic, and pneumatic power to the other units.5 Machine Control SoftwareThe software requirements for the 545 module pivoted on achieving, as near as possible, real-time control of the CMM. The manual mode software and the input and output interface hardware duplicate all of the functions controlled by the operator with the original tethered pendant box. In addition, providing automated cutting cycle software relieves the teleoperator of repetitive machine operations. The software for the TTDS electronic control system was coded using TISOFT2 for the Siemens Simatic TT545 module. This package accommodates the usual programmable logic controller software including relay ladder logic (RLL), analog alarms, and proportion-integral-differential (PID) loops. TISOm2 also allows special function programs, written in a proprietary high-level structured language. A special function program consists of a set of instructions that can be called from PID loops, analog alarms, or the RLL program, much like a GOSUB subroutine in a BASIC program or a procedure in a C language program. The code for the manual mode software resides in RLL. With a RLL boolean execution speed of 0.78 ms/Kwords, near real-time is easily achieved. The code for sensor data acquisition and the automated cutting cycle was written using special function programs. The special function programs for sensor analog data acquisition are all cyclic with periods of 50 and 100 ms. The sensors related to the automated cutting cycle parameters are sampled every 50 ms while the others are sampled every tenth of a second. When the teleoperator turns on the automated cutting cycle switch, a special function program is called. The larger LCD monitor informs the teleoperator that the automatic cutting will begin. After an intentional five second delay, the system executes an automated cutting cycle. The automated cutting cycle consists of several chained steps. The occurrence of a terminating event from the previous step initiates the next automated cutting cycle step. The conclusion of a timer interval, or the value of acquired sensor data reaching a set threshold, triggers these step transitions. The teleoperator determines the automated cutting cycle parameters while operating in the manual mode. Before starting the automated cutting cycle, the teleoperator dials in these parameters via thumbwheel switches. The automated cutting cycle input parameters are CMM sump extension distance, upper auger boom cutting height, and lower auger boom cutting height limits. The LED digital readouts display the recorded upper and lower cutting heights which were determined by the teleoperator during the previous manual mode. The automated cutting cycle height limit parameters can be set to these values or others as dictated by the teleoperator s experience.After the teleoperator initiates the automated cutting cycle, the following sequence is performed:a) Retract the CMM sump frame to its outby limit. b) Turn on CMM dust sprays, if off. c) Turn on face equipment conveyors, if off. d) Cue the operator for consent to energize the CMM augermotors, if off. e) Set the CMM auger boom to predetermined upper cutting height limit. f) Float the CMM plow, if raised.g) Excluding pass one, tram the face equipment forward a distance equal to the predetermined sump extension distance limit. h) Cue the operator to adjust the face equipment position,if required, and give consent to proceed. i) Set the CMM sump frame to the predetermined extension distance limit.j) Lower CMM auger boom height to predetermined lower cutting height limit.k) Retract CMM sump frame to its outby limit. Go to step g.Another requirement of the automated cutting cycle software is to accommodate manual teleoperator intervention in case of a jammed conveyor on the CMM or haulage equipment. When a conveyor jams, the teleoperator manually activates the appropriate conveyor reverse control, suspending the automated cutting cycle (saving all parameters), to clear the obstruction. After the obstruction is cleared, deactivating the conveyor reverse switch resumes the automated cutting cycle from the point of interruption.6 Operator Interface Software The teleoperator is kept informed by the interface software. The interface software provides:a) Graphic representations of sensor data.b) Information for the automated cutting cycle.c) Diagnostic information to find problems and possible solution. d) Summaries for the operating period.The language used to write the operator interface software was MS C/C+ Version 7.0. The software runs on a 80386 module in the master controller base. Reading the 545 module memory over the common backplane bus achieves quick access to sensor data. In the THMS, a large and expensive array of digital bargraph displays was in the operator compartment to present sensor data. Since space is limited in the thin seam operator compartment, the sensor data is displayed on the large LCD monitor. An added benefit is that only selected sensor information is displayed at a given time, according to the operational sequence. This eliminates the clutter of the previous design and allows the teleoperator to concentrate on only the sensory information that is needed for a given operation. A switch labeled SCREEN DISPLAYS allows the teleoperator to override the automatic sequencing and presentation of information, as determined by the software. Switch settings allow the teleoperator to force displays that include (1) numerical presentation of all sensor data and (2)groupings of bargraph displays showing selected sensor outputs. Future revisions to the operator interface software will include the presentation of (1) diagnostic information with possible remedies, if any, and (2) performance information such as operating time, the number of automatic cutting cycles and average cutting height. When performing an automatic cutting cycle, the large LCD monitor shows the teleoperator procedural details about the operation. Most of this information is text that explains what is about to happen or what conditions caused the operation to abort. Reading PLC memory locations containing conditions flags determines the information to display. When the automatic cutting cycle is aborted, the software presents additional facts on the actions necessary to resume the cycle.7 Surface evaluationIn July 1991, initial surface testing of the PLC-based electronic control system was conducted at the Bureaus Pittsburgh Research Center. This testing demonstrated near real-time control of the Jeffrey l0lMC CMM. As shown in Figure 6, a 305 m shielded twisted pair cable connected the slave controller, which was located on the CMM, to the master controller, located at the remote operators station. Relay ladder logic was written for the 545 module in the master controller to control eight selected machine functions of the CMM. Several test teleoperators were requested to control the eight machine functions remotely. All reported no perceptible delays in machine operation. To quantify the on/off propagation delays for the PLC-based control system, laboratory tests were conducted. The master controller and slave controller were connected by a 305 m communication cable. The software utilized was the program written to conduct the eight-function remote control test of the Jeffrey lOlMC CMM. A one hertz square wave was applied to an input point on the master controller and a solid state relay, with alternating current load, was connected to a discreet output point on the slave controller. A Nicolet 3091 Waveform Analyzer was used to measured the delay times of the I/O point pair.For analog I/O propagation delay measurements, the PLC system consisted of one CTI analog to digital (MI) input module, located in the slave controller, and a CTI 2560 digital to analog (D/A) module located in the master controller. A simple relay ladder logic program moved eight input words of the A/D module to the corresponding eight output words of the D/A module. A function generator supplied an input signal from zero to fifty hertz at 10 volts peak to peak to the A/D input module. The output from the function generator and the D/A output module were connected to the vertical channels of the Nicolet Analyzer to measure the analog channel propagation delay. As shown in Table , the PLC-based system demonstrated improved response time about ten times faster than the Intel BITBUS distributed microcontroller system used with the THMS 4.A second surface test began during September 1992, and concluded October 1992. The remote operator controlled the Jeffrey lOlMC CMM using closed-loop control with the miner auger rotating in air. The connection between teleoperators station and the CMM was a 61 m cable assembly with four twisted pairs and two coaxial lines. Using the Siemens 545 PLC, the remote operator controlled CMM functions in near real time (measured 21 ms delay).The demonstration system, consisting of the modified CMM and the remote operators station, has remained intact and operational through May 1993. During refinement activities and demonstrations to interested parties, no system downtime has been attributed to the PLC-based electronic control system.Fig. 2. Teleoperated system for thin-seam room-and-pillar deep mines.8 ConclusionsWork conducted by the Bureau to-date demonstrates telecontrol is a viable method to remotely operate mining systems safety and effectively. Telecontrol tried in a developed highwall mining system appears promising for the deep mining application. In the teleoperated thin-seam mining system, improved electronic control systems increased the closed-loop system response to near real-time. If the development of telecontrolled mining equipment continues successfully and is accepted by the industry, this technology development will mark a significant milestone in achieving safer, more efficient, mining operations. Referencesl Kwitowski, A. I., A. L. Brautigam, M. C. Leigh. Teleoperation of a Highwall Mining System. Bureau of Mines RI 9420, 17 pp.2 Kwitowski, A. J., W. H Lewis, , W. D. Mayercheck, and M. C. Leigh.Computer-based Monitoring and Remote Control of a New Highwall Mining System. IEEE Transactions on Industry Applications, Volume 25, Number 4. July/August 1989, pp. 683-690.3 Kwitowski, A. I., W. D. Mayercheck, A. L. Brautigam. Teleoperation for Continuous Miners and Haulage Equipment. JEEE Transactions on Industry Applications, Volume 26, Number 5, Sept./Oct. 1992, pp.1118-1125.4 Monaghan, W. D., A. J. Kwitowski, A. L. Brautigam. Electronic Control Systems for Teleoperated Mining Systems. Proceedings, Eleventh WW Intemational Mining Electrotechology Conference, uly 1992, Mmgantown, WV, pp. 151-159.中文译文遥控连续采矿机在薄煤层中的应用 August J. Kwitowski, Albert L. Brautigam, and William D. Monaghan August J. Kwitowski, Albert L. Brautigam, and William D. Monaghan US Department of the Interior Bureau of Mines Pittsburgh Research Center Pittsburgh, PA 15236 （美国能源部的室内局，矿业匹兹堡研究中心匹兹堡的PA 15236）Abstract -Telecontrol is a technology providing significant safety improvements in mining, by relocating machine operators hundreds of meters away from the immediate health and safety hazar摘要遥控是通过迁移采煤机司机远离对健康和安全有直接危害地区几百米远，从而在采矿中提拱有效地安全改善的工业技术。 The US Bureau of Mines recently developed and patented a telecontrol system for underground room-and-pillar mining美国煤炭局最近开发并且获得地下房柱式采煤的遥控系统并获得专利。This system features near-real-time closed-loop c该系统特征是相近实时封闭环形控制。 A demonstration system was constructed that can be wed in thin-seam applications down to 914 mm构建了一个可以在914mm薄煤层中应用的示范系统。Details are provided on he developed telecontrol system, with the emphasis placed on the programmable logic controller-based electronic control syste他研制的远程控制系统，以可编程逻辑控制器为基础的电子控制系统的细节得以提供。 1 引言 In remote control continuous mining, the operator does not normally sit on the machine. 在遥控器上的连续开采，司机通常不坐在机器上。 This operator is typically located 3.05 - 15.24 m from the working face and communicates with the machine using a hard-wired pendant control or a radio transmitter with complement machine-based receiver. 这个操作符通常位于的工作面3.05-15.24m远的地方，使用硬连接的吊坠控制或与补机的接收机的无线电发射器的机器通信。 The operator receives direct operational cues via human senses like vision, hearing, and feel. 操作员会通过人的感官，如视觉，听觉，感觉等收到直接的可以使用的信号。 Telecontrol (teleoperation), as used here, is the computer-based, distant control of mine machinery from a protected operator compartment located out of the line of site.基于计算机的远程控制的遥控，用在这里，从保护工作者的区域通过线路控制矿山机械。 The teleoperator responds to sensory information from a remote mining machine and makes corrections by moving control devices (usually switches). 遥控操作者通过移动控制装置（通常是交换机）从远程采煤机获得信息和并且做出判断。 This initiates electronic control commands that, when received and interpreted, cause the appropriate remote machine function(s) to occur.接收和解释将启动电子控制命令时，会导致发生相应的远程机的功能。 Without question, telecontrol increases the safety of mining machine operators. 毫无疑问，遥控增加了采矿机械操作工的安全。 This technology removes the operators from the hazardous immediate face area to a much safer location. 这项技术使司机远离直接面对危险区的一个更安全的位置。 In underground mining, the working face area contains many hazards. 在地下开采，工作面区域包含许多危害。 Unexpected roof falls can maim or kill miners instantly. 意想不到的顶板冒落可以即刻致残或杀死矿工。 Methane and coal dust explosions can be touched off with just a small spark or flame.可触及甲烷和煤尘爆炸的只是一个小火花或火焰。 Long-term health effects can result from miners breathing coal and silica dust and hearing loss can be caused by long-term exposure to noise pollution.呼吸煤和二氧化硅粉尘会导致长期的健康的影响，可能会导致长期暴露在噪音污染矿工的听力损失。 Additional hazards are related to heavy mining equipment moving about in confined underground roadways that accommodate other workers. 其他危害是有关重型矿山设备和矿山工人移动在密闭的地下巷道。 A goal of this work was to remove the operators of thin-seam continuous mining machines from these hazards. 这项工作的目标是帮助薄煤层连续开采机司机消除这些危害的。 2 以前的工作 The Bureau of Mines has been active in telecontrol research since 1979. 自1979年以来，矿务局积极研发远程控制。 A major milestone was achieved in 1989 when, following development and surface testing, a teleoperated highwall mining system (THMS) was evaluated at a cooperators field site 1. 一个重要的里程碑是在1989年时，发展和表面测试后，遥控轮式边坡采矿系统在合作者的现场评估。 THMS subsystems included: (1) a Jeffrey Model 102HP thin-seam continuous miner, (2) a continuous haulage coal conveying system, (3) the teleoperators station, (4) the computer-based control system, and (5) support equipment located on the bench 2,3遥控轮式边坡采矿系统的子系统包括：（1）杰弗里的型号102马力薄煤层连续采煤机，（2）连续煤炭输送系统，（3）遥控工作站，（4）以计算机为基础的控制系统，及（5）支持坐落在工作台的设备。 The THMS could penetrate the highwall to a depth of 84 IIL This was limited by the length of the continuous haulage system.遥控轮式边坡采矿系统，可以洞悉84 IIL的深度 ，这是连续运输系统的长度有限的深度。 A simple, line-of-sight laser alignment system was used to guide the THMS on a straight course. 一个简单的视线激光定位系统，用于指导调直的过程中遥控轮式边坡采矿系统。 The THMS employed a unique, ergonomically designed, operator control station, shown in Figure 1, and required only three workers. 一个独特的、符合人体工程学设计，操作员控制站系统，如图1所示，并要求只有3名工人。 To insure safety, none of the operating personnel were located in the mine entries. 为了确保安全，操作人员没有位于煤矿入口。作为该系统的主席团和合作者，SHS，西弗吉尼亚州摩根公司的联合努力开发。 图1 工作站The THMS was used as the basis for the design of a teleoperated, thin-seam, deep-mining system (TTDS该系统被用作遥控轮式，薄煤层，深部开采系统设计的基础上。 The TTDS used many of the same design features and hardware as the THMS. 遥控轮式薄煤层深部开采系统使用许多相同的设计功能和硬件的遥控轮式边坡采矿系统。 The most significant changes to the telecontrol system involved the teleoperators station and the electronic control system. 遥控系统最显着变化涉及的遥控工作者的管理站和电子控制系统。 A design goal was to fit the teleoperators station in an underground location where the vertical height was limited to 744 mm. 一个设计目标是适合在地下的位置，垂直高度限制为744毫米的遥控操作者的工作站。 The significant reduction in available vertical height between the THMS and the TTDS required substantial changes be made in the layout of the station and in the selection of display devices. 在需要减少垂直高度之间的遥控轮式边坡采矿系统和遥控轮式薄煤层深部采矿系统需要作出实质性的变化，在该站的布局和设备之间的选择。遥控轮式边坡开采系统The THMS used a distributed microcontroller system network based on the Intel BITBUS series.遥控遥控 遥控分布式单片机系统网络是基于英特尔BITBUS系列的。 This system suffered from significant time delays between both (1) the activation of a control and the actuation of a machine function and (2) the detection of the change in a sensor data and the corresponding display of that change to the operator. 该系统用去了大量的时间来激活了控制和驱动一台机器的功能和在检测传感器数据的变化和相应的显示和操作者的变化之间的延误。 This system was also difficult to program. 该系统也难以实现方案。 These faults were corrected by the selection of a programmable logic controller-based electronic control system for the TTDS . 纠正这些故障是对可编程逻辑控制器基于对遥控轮式薄煤层深部开采系统的电子控制系统的选择。 3 遥控轮式薄煤层深部开采系统 Figure 2 shows a conceptual drawing of the complete TTDS. 图2显示了一个完整的遥控轮式薄煤层深部开采系统的概念图。 The TTDS fits the description for a mining system that was granted US Patent No. 5,161,857 entitled Teleoperated Control System for Underground Room and Pillar Mining.遥控轮式薄煤层深部开采系统被授予美国专利号5161857题为采矿系统的描述“遥控轮式地下房柱式开采的控制系统” Because the TTDS is to fit and operate in thin-seam (as low as 914 mm), deep, room-and-pillar applications, all the subsystems designs are unique。由于遥控轮式薄煤层深部开采系统是在薄煤层，以适应和操作低至914毫米厚、埋藏深、房柱开采的应用，所有的子系统的设计是独一无二的。 These subsystems include (1) a modified continuous miner, (2) a continuous haulage system, (3) a control station, (4) a computer-based teleoperating system, (5) a cable and hose handling module (6) an electrical, hydraulic, and air distribution module, and (7) a ventilation system. 这些子系统包括：（1）改进后的连续采煤机（2）连续运输系统（3）管制站（4）基于计算机遥控系统，5）一套电缆和软管的处理模块（6）一套电气、液压和空气分配模块和（7）通风系统。遥控轮式薄煤层深部开采系统拟在两个或两个以上的工人操作。图2 深部薄煤层遥控系统3.4 TTDS Equipme遥控轮式薄煤层深部开采系统设备 The teleoperated thin-seam continuous mining machine (CMM) is a modified Jeffrey Model 101MC. 遥控轮式薄煤层连续采煤机是修改后的杰弗里型号101豪局里。 Modifications made for telecontrol included: (1) selection, packaging, installation and wiring of sensors, (2) packing and installation of a video subsystem, and (3) packing, mounting, and wiring of a slave computer and sensor processing electronics . 为遥控所做的改进包括：（1）挑选、包装、安装及接线传感器（2）包装和安装的视频子系统（3）包装、安装和装置计算机和传感器处理的电子配线。 The ITDS design includes a continuous haulage system; however, no decision on a specific system was made.遥控轮式薄煤层深部开采系统设计包括一个连续运输系统; 然而，没有一个具体的系统的决定。 Of the commercial units available, Joy Technologies 3 Flexible Conveyer Train (3FCT) appears suitable. 可用的商业、娱乐的灵活运输的火车提供合适的设计。 Modification of the 3FCT to make it fully compatible with the design of the TTDS would include (1) lowering the profile to operate within 914 mm coal seams, (2) revising the tracking to follow automatically the CMM, and (3) providing function control through the telecontrol system.改进火车使其完全兼容遥控轮式薄煤层深部开采系统的内容将包括（1）低轮廓的控制在914mm煤层（2）修订跟踪，自动遵循的遥控轮式薄煤层连续采煤机（3） 通过远程控制系统提供的功能控制。 The teleoperators station houses the human operator and electronic controls. 遥控工作站设有人工操作和电子控制系统。 The operator sits in a reclined position. 操作坐落在拱垂的位置。 The height of the prototype compartment measures 838 mm, the width is 1524 mm, and the length is 2438 mm. 原型舱的高度尺寸为838mm，宽度为1524mm，长度为2438mm。 Although the current compartment height is 838 mm, reducing the design of the profile by 75 mm is possible by lowering the operator control panel and seat configuration. 虽然目前舱高度为838mm，是可以通过降低运营商的控制面板和座椅配置减少了75mm的轮廓设计。 The adjustable canopy vertical position and operators seat, permit the teleoperated system to be usable in higher seams. 可调整树冠垂直位置和操作员的座位，允许在更高的接缝处可用遥控轮式系统。 The planned location of this compartment is outby in the belt entry under supported roof. 这个舱的计划中的位置是坐落在顶板下。 The station is not self-powered and requires other machinery to drag or carry it. 站是不是自供电，并要求其他机械拖动或搬运。 Additional moduls are required for the TTDS. 为遥控轮式薄煤层深部开采控制系统需要额外的单一模块。 These include (1) a unit that contains motorized reels for winding and unwinding hoses and cables and (2) a unit to supply electrical, hydraulic, and pneumatic power to the other units. 这些措施包括：（1）一个单位，包含卷绕和退绕软管和电缆（2）一个单位，其他单位提供电气，液压，气动动力电动辘。 3.3 Computer-Based Telecontrol Sy5 机器控制软件 The software requirements for the 545 module pivoted on achieving, as near as possible, real-time control of the CMM. 545模块的软件要求循环实现，尽可能接近薄煤层连续采煤机实时控制的可能。 The manual mode software and the input and output interface hardware duplicate all of the functions controlled by the operator with the original tethered pendant box. 手动模式下的软件和重复输入和输出接口的硬件全部由操作员通过控制盒控制。 In addition, providing automated cutting cycle software relieves the teleoperator of repetitive machine operations. 此外，提供自动切削循环软件，免除操作者重复操作。 The software for the TTDS electronic control system was coded using TISOFT2 for the Siemens Simatic TI545 module. 使用西门子SIMATIC TIT545模块为遥控轮式薄煤层深部开采系统电子控制系统提供软件编码。 This package accommodates the usual programmable logic controller software including relay ladder logic (RLL), analog alarms, and proportion-integral-differential (PID) loops. 此软件包可容纳通常的可编程逻辑控制器软件包括逻辑梯形图，模拟报警，比例-积分-微分循环。 TISOm2 also allows special function programs, written in a proprietary high-level structured language. TISOm2还允许特殊功能的方案，在一个专有的高层次结构的语言编写的。 A special function program consists of a set of instructions that can be called from PID loops, analog alarms, or the RLL program, much like a GOSUB subroutine in a BASIC program or a procedure in a C language program. 一套可以称为比例-积分-微分循环回路，模拟报警，或逻辑梯形图的程序指令，很像一个BASIC程序或C语言程序一个程序GOSUB子程序。The code for the manual mode software resides in RLL. 手动模式软件代码属于逻辑梯形图。 With a RLL boolean execution speed of 0.78 ms/Kwords, near real-time is easily achieved. 并且逻辑梯形图的布尔执行速度为0.78毫秒/ K，近实时轻松实现。 The code for sensor data acquisition and the automated cutting cycle was written using special function programs. 传感器的数据采集和自动切削循环中的代码是用特殊功能的方案。 The special function programs for sensor analog data acquisition are all cyclic with periods of 50 and 100 ms. 传感器终端数据的特殊功能的模拟数据采集程序都是50或100毫秒的循环周期。 The sensors related to the automated cutting cycle parameters are sampled every 50 ms while the others are sampled every tenth of a second. 有关自动切削循环参数的传感器进行采样，每50毫秒，而其他进行采样，每十分之一秒。 When the teleoperator turns on the automated cutting cycle switch, a special function program is called. 当遥控自动切削循环开关打开，特殊功能的程序被启动。 The larger LCD monitor informs the teleoperator that the automatic cutting will begin. 较大的液晶显示器的通知，将开始自动切割的采煤机。 After an intentional five second delay, the system executes an automated cutting cycle. 五秒钟的延迟，系统执行自动切割循环。 The automated cutting cycle consists of several chained steps. 自动切割循环，包括几个链式步骤。 The occurrence of a terminating event from the previous step initiates the next automated cutting cycle step. 从上一步的终止事件的发生，启动下阶段自动切割循环。 The conclusion of a timer interval, or the value of acquired sensor data reaching a set threshold, triggers these step transitions.之间的时间间隔，或收购的传感器达到设定的阈值的数据，得出的结论触发这些步骤的过渡。 The teleoperator determines the automated cutting cycle parameters while operating in the manual mode. 遥控机人员决定自动切削循环参数，在手动模式下运行。 Before starting the automated cutting cycle, the teleoperator dials in these parameters via thumbwheel switches. 自动切削循环开始之前，遥控人员通过拨码开关“拨打”这些参数。 The automated cutting cycle input parameters are CMM sump extension distance, upper auger boom cutting height, and lower auger boom cutting height limits. 自动切削循环的输入参数的三坐标测量机油底壳延伸距离，上钻热潮切割高度，切割高度限制较低的螺旋臂。 液晶The LE