Controlled multi-motor crawler travel drives on open pit mining machines

Travel drive on open pit mine machines is multi-motor drive, consisting of two, four, six or more motors. This drive is the most demanding drive on the open pit mining machines. The single drives are cross-coupled through terrain, which is rugged and inhomogeneous, making the quasi-stiff mechanical coupling. This is the reason why the relation of coupling between the individual drives permanently changes during motion, in an unpredictable way. During the driving along the curved path, it is necessary to provide significantly different speeds for individual motors. Special problem is the fact that lean on the ground is achieved through crawler tread, which introduces significant gaps in the transmission system. The required uniform load distribution between individual motors is provided by the control system.