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Dragline automation

Ridley, P. & Corke, Peter (2001) Dragline automation. In Proceedings - IEEE International Conference on Robotics and Automation, May 21-26, Seoul Korea.

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    Abstract

    This paper 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.

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    ID Code: 32730
    Item Type: Conference Paper
    Keywords: dragline bucket excavators
    DOI: 10.1109/ROBOT.2001.933200
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Deposited On: 05 Jul 2010 16:00
    Last Modified: 16 Sep 2010 22:26

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