Development of algorithm for excavation control

Abstract

In open-pit excavators there exists a discrepancy between their engineering designs and underuse of performance potential due to complexity of excavation and such intensity of carrying out working procedures which borders on physical limits of an operator. The excavating procedure is shown to involve joint functioning of main actuating mechanisms of an open-pit excavator for its thrusting and lifting operations and formation of a leverage transmission mechanism connecting those with a bucket. In that case, it was established, the excavation process is characterized by a 'conversion' of the main mechanisms since their operation parameters are formed according to kinematic properties of the leverage and energy-force parameters realized on the bucket. Dependencies were derived to calculate kinematic transfer functions of the leverage, which correlate the velocity of excavation and those of working motions (speeds of thrusting and lifting). The algorithm of calculating the velocities of working motions could be used to develop a digital system to control the motors of the main mechanisms. © Published under licence by IOP Publishing Ltd.