• 系统概述

井下自动排水系统解决了井下排水系统自动控制的难题，利用现代最优控制理论，分析矿井涌水情况和用电情况，建立了排水系统的离散数学模型根据最优性原理，用动态规划法，对排水系统进行分段决策控制，并提出通过递推算法对数学模型进行求解，得出获取最优控制策略的一般方法。

井下自动排水系统具有以下特点:水位实时在线检测并显示各台水泵自动启动与停止，多台水泵实行“轮班工作制”，提高水泵使用寿命;根据涌水量大小和用电“避峰就谷”原则，自动控制投入运行的水泵台数，与矿井监控系统联网，便于集中控制。

System overview

The underground automatic drainage system solves the problem of automatic control of the underground drainage system. By using the modern optimal control theory, it analyzes the water gusher and electricity consumption of the mine, and establishes the discrete mathematical model of the drainage system. According to the optimal principle and the dynamic programming method, the drainage system is made up of subsection decision control, and the recursive calculation method is proposed to solve the mathematical model. The general method of obtaining the optimal control strategy is obtained.

The underground automatic drainage system has the following characteristics: real-time online water level detection and display of automatic start and stop of each pump, multiple pumps implement "shift work" to improve the service life of the pump; According to the amount of water inflow and the principle of "avoiding peak on valley", the number of pumps put into operation is automatically controlled, and the network of mine monitoring system is convenient for centralized control.

• 系统功能特点

水泵监控子系统有四种工作方式，“无人值守”、“远程自动”、“手动检修”、“井下自动(一键启停)”。无人值守:无人值守控制下，PLC采集各种信号，按照本水泵房的工艺流程及多水平联动工艺，控制水泵及闸阀的开启。由超声波液位传感器连续检测水仓水位，结合浮球开关，自动开停水泵及其阀门。在正常水位时，各台水泵能自动轮换工作，最大涌水及突出涌水时，自动投入必要数量的水泵运行。当水泵出现故障时，能够及时报警，并能够自动切换到开启备用水泵。

根据水泵运行台数以及水位变化率的情况来判断矿井涌水情况，来确定水泵增加减少台数。在“无人值守”工作模式下如果与井下通讯中断，井下控制主机同样会执行无人值守模式。

远程自动:调度中心的操作人员根据水仓显示水位，确定开泵台数，在地面通过监控主机人工手动开停水泵。可以通过监控主机的一键启停按钮，一键完成泵组的抽真空、开泵、开闸阀，也可以单独对闸阀、球阀、水泵进行控制。

手动检修:井下操作台旋钮打到手动后，可操作任一水泵电机，闸阀的开关，此时地面监控主机不允许对井下水泵房设备进行操作。

井下自动(一键启停):井下操作台旋钮打到自动后，根据需要通过一键启停旋钮完成整个泵组的启动过程。每台水泵可设置“运行”、“备用”、“检修”三种工作方式，该方式可直接通过本台计算机进行设定。

System function characteristics

The pump monitoring subsystem has four working modes, "unattended", "remote automatic", "manual maintenance", "underground automatic (one-click start and stop)". Unattended: Under unattended control, PLC collects various signals, and controls the opening of the pump and gate valve according to the process flow of the water pump room and the multi-level linkage process. The ultrasonic level sensor continuously detects the water level of the water tank, combined with the float switch, the pump and its valve are automatically turned on and off. At normal water level, each pump can automatically rotate work, maximum water surge and prominent water surge, automatically put the necessary number of pumps into operation. When the water pump fails, it can alarm in time and automatically switch to open the standby water pump.

According to the number of pumps running and the rate of change of water level to judge the mine water gushing situation, to determine the increase and decrease of pumps. In the "unattended" working mode, if the communication with the mine is interrupted, the underground control host will also execute the unattended mode.

Remote automatic: the operator of the dispatch center determines the number of pumps to be opened according to the water level displayed in the water tank, and manually starts and stops the pump by monitoring the host on the ground. By monitoring the one-key start and stop button of the host, the pump group can be vacuumed, opened pump, and opened gate valve, and the gate valve, ball valve and water pump can also be controlled separately.

Manual maintenance: After the knob of the underground operation table is set to manual, the switch of any pump motor and gate valve can be operated. At this time, the ground monitoring host is not allowed to operate the equipment of the underground water pump room.

Downhole automatic (one-button start and stop): After the downhole operation table knob is turned to automatic, the whole pump group can be started by one-button start and stop knob as required. Each pump can be set up "running", "standby", "maintenance" three working modes, which can be set directly through this computer.