Title :
Dragline modelling and control
Author :
Corke, Peter I. ; Winstanley, Graeme J. ; Roberts, Jonathan M.
Author_Institution :
Div. of Manuf. Technol., CSIRO, Pinjarra Hills, Australia
Abstract :
Electric walking draglines are physically large and powerful machines used in the mining industry. However with the addition of suitable sensors and a controller a dragline can be considered as a numerically controlled machine or robot which can then perform parts of the operating cycle automatically. This paper presents an analysis of the electromechanical system necessary precursor to automatic control
Keywords :
dynamics; electric drives; mineral processing industry; mining; modelling; parameter estimation; position control; automatic control; bucket swing control; coal mining; electric motor drives; electric walking draglines; electromechanical system; mechanical dynamics; modelling; numerically controlled machine; parameter estimation; position control; Australia; Automatic control; Control systems; DC motors; Foot; Legged locomotion; Manufacturing automation; Motion control; Robotics and automation; Voltage control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614381
