Dragline automation

Author

Ridley, Peter ; Corke, Peter

Author_Institution

Sch. of Mech. Eng., Queensland Univ. of Technol., Brisbane, Qld., Australia

Volume

4

fYear

2001

fDate

2001

Firstpage

3742

Abstract

Examines the feasibility of automation of dragline bucket excavators used to strip over-burden from open cut mines. In particular the automatic control of bucket carry angle and bucket trajectory are addressed. Open-loop dynamics of a 1:20 scale model dragline bucket are identified, through measurement of frequency response between carry angle and drag motor input voltage. A strategy for automatic control of carry angle is devised and implemented using bucket angle and rate feedback. System compensation and tuning are explained and closed loop frequency and time responses are measured.

Keywords

closed loop systems; compensation; excavators; feedback; frequency response; position control; three-term control; tuning; automatic control; bucket carry angle control; bucket trajectory control; compensation; dragline bucket excavators; frequency response; open cut mines; open-loop dynamics; over-burden stripping; rate feedback; tuning; Automatic control; Automation; Feedback; Frequency locked loops; Frequency measurement; Frequency response; Strips; Time measurement; Tuning; Voltage;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933200

Filename

933200