随着煤矿高产高效技术的推广和应用，井下长距离、大运量、大功率下运带式输送机的应用越来越普遍。其中，解决好倾角较大（大于6°）的下运带式输送机的运行制动和安全制动问题对保障全矿安全、高效生产具有重要意义。 本文在对国内外现有下运带式输送机制动系统的现状分析基础上，针对煤矿生产的特殊性，提出了基于ARM的嵌入式计算机控制液压调速软制动系统方案，所用元件可靠性和防爆性好，系统简单，动态制动性能好；结合成熟的工业PID控制经验和智能控制理论，并依据制动控制方案，设计了一种模糊自适应PID控制器用于控制电液比例调速阀的开口大小，其PID参数Kp、Ki和Kd可根据系统状态进行在线调整，结构简单、鲁棒性强，在系统结构参数发生改变时也可获得较好的控制效果；在基于S3C44B0X的最小ARM系统基础上，设计了系统控制信号的输入、输出方式及其电路；分析了实时操作系统μC/OS-II BootLoader的设计及其在S3C44B0X上的移植过程；制动系统应用软件采用多任务机制，状态检测与控制任务并行运行，数据采集采用定时中断的方式；系统可扩展性、可移植性好，控制算法容易实现多样性且开发简单、维护方便。 该液压调速软制动系统可用于大型下运带式输送机的正常工作制动、紧急停车和断电防止飞车事故发生的安全制动，对输送机的辅助启动也起重要作用。制动力矩依据输送机载荷大小和输送机制动减速时速度的变化进行自动调整，制动曲线可调，输送机减速时不产生较大冲击、安全平稳，并按照规定的减速度大小减速停车。

With coal mine technique of high production and high efficiency’s popularization and application, applications of underground long-distance, large-capacity, high-power downward belt conveyor are more and more popular. Among them, how to solve well the problem of running braking and safety braking of larger angle (more than 6°) downward belt conveyor is important to guarantee whole mine’s safe, high efficient production. In this paper, on the basis of analysis of present situation of existing downward belt conveyor braking system home and abroad, in view of the particularity of coal mine pro- duction, we put forward a scheme of ARM-based embedded computer-controlled hydraulic speed regulating soft braking system, components used have good reliability and good explosion-proof property, system is simple, dynamic braking performance is well; design a fuzzy adaptive PID controller, combining industrial sophisticated PID control experience and intelligent control theory, based on braking control scheme, to control the opening of electro-hydraulic proportional speed regulating valve, its PID parameters Kp, Ki and Kd can be adjusted online according to system status, its structure is sample with high robustness, and has a better control effect when structural parameters are changed; design the system control signals input-output approaches and their circuits based on the S3C44B0X-based mini ARM System; analysis real-time operating system μC/OS-II’s BootLoader design and its trans- planting process on S3C44B0X; braking system application software uses multi-task mechanism, state detection and control task run in parallel, data collection adopts timing interrupt method. The system also has good expansibility, powerful transplantable capacity, and is easy to realize the diversity of control algorithm with easy development and convenient maintenance, etc. The hydraulic speed regulating soft braking system can be used for safety braking in large-scale downward belt conveyor under normal working braking, emergency stop and runaway accident prevention in power off, and also plays an important role in supporting startup. Its braking torque can be automatically regulated based on load and speed changes in system braking, braking curve is adjustable, not have a great impact in deceleration, safe and stable, decelerates and stops according to a specified decelerate.