Title :
Integrated mechanical-electrical modeling of an AC electric mining shovel and evaluation of power requirements during a truck loading cycle
Author :
Valenzuela, G. Matias ; Valenzuela, M. Anibal
Author_Institution :
Univ. of Concepcion, Concepcion, Chile
Abstract :
Paper presents an integrated kinematics and dynamic modeling of the swing, hoist and crowd movements of an electric mining shovel driven by regenerative vector controlled ac drives through ropes and gear reducers. The shovel is modeled as a 4-dof articulated mechanical system with three rotating joints and one prismatic joint. Using the developed models a typical truck loading cycle of digging, swinging, dumping and returning is evaluated. The effect of the digging torque is extracted from field records, and speed, position, torque and power of each drive during the entire cycle are reported and analyzed, showing the benefits of regenerative drives.
Keywords :
PI control; gears; hoists; induction motor drives; kinematics; loading equipment; machine vector control; mining equipment; rectifying circuits; ropes; variable speed drives; vehicle dynamics; AC drives; AC electric mining shovel; crowd movement; digging movement; digging torque; dumping movement; dynamic model; gear reducer; hoist movement; integrated model; kinematic model; mechanical-electrical modeling; power requirements; regenerative drive; regenerative vector control; returning movement; ropes; swing movement; swinging movement; truck loading cycle; Dynamics; Kinematics; Load modeling; Mining industry; Torque; ac drives; dynamic model; kinematic model; mining shovel;
Conference_Titel :
Industry Applications Society Annual Meeting, 2014 IEEE
Conference_Location :
Vancouver, BC
DOI :
10.1109/IAS.2014.6978452