Title :
Dragline automation
Author :
Ridley, Peter ; Corke, Peter
Author_Institution :
Sch. of Mech. Eng., Queensland Univ. of Technol., Brisbane, Qld., Australia
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933200
