Науковий вісник НГУ

Mathematical model of the closed-loop system of excavator bucket positioning

• 
• 

User Rating:  / 0

PoorBest 

Details

Category: Content №1 2023

Last Updated on 25 February 2023

Published on 30 November -0001

Hits: 3294

Authors:

V.Tytiuk*, orcid.org/0000-0003-1077-3288, NJSC “Karaganda Industrial University”, Temirtau, the Republic of Kazakhstan, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

O.Chornyi, orcid.org/0000-0001-8270-3284, Kremenchuk Mykhailo Ostrohradskyi National University, Kremenchuk, Ukraine,  e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

D.Mrachkovskyi, orcid.org/0000-0003-2811-0677, Kryvyi Rih National University, Kryvyi Rih, Ukrain, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

S.Tryputen, orcid.org/0000-0003-3979-6512, Neura Robotics Gmbh, Metzingen, the Federal Republic of Germany,  e-mail:  This email address is being protected from spambots. You need JavaScript enabled to view it.

M.Tryputen, orcid.org/0000-0003-4523-927X, Dnipro University of Technology, Dnipro, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

V.Kuznetsov, orcid.org/0000-0002-8169-4598, Ukrainian State University of Science and Technologies, Dnipro, Ukraine, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

* Corresponding author e­mail: This email address is being protected from spambots. You need JavaScript enabled to view it.

повний текст / full article

Naukovyi Visnyk Natsionalnoho Hirnychoho Universytetu. 2023, (1): 107 - 114

https://doi.org/10.33271/nvngu/2023-1/107

Abstract:

Purpose. Study on energy consumption of mechatronic systems of mining excavators during the full production cycle, development of energy efficiency criterium for the production cycle of mining excavators, which ensures an increase in the technical and economic indicators of the operation of powerful mining equipment.

Methodology. Mathematical modeling of electro-mechanical system of “front shovel” excavator, determination indicators of the production cycle, development of the criterion of energy efficiency of the mining excavator’s operating cycle taking into account the theory of technical systems efficiency.

Findings. A mathematical model of a complete electro-mechanical system of an excavator with “generator-engine” electric drive has been developed, which includes a model of the mechanical part of the excavator. The closed-loop bucket positioning system makes it possible to implement various movement trajectories during the operating cycle. Numerical characteristics of energy consumption and duration for various movement trajectories of the working bodies of the excavator are obtained. A new criterion of energy efficiency of mechatronic systems of mining excavators is proposed.

Originality. For the first time, a mathematical model has been proposed of an integral electro-mechanical system of an excavator according to the “front shovel” scheme, which includes models of electric drives of all mechanisms and a synchronous drive motor, as well as a model of the mechanical part of the excavator; this makes it possible to increase the accuracy of determining the excavator’s energy consumption and the operating cycle time. A criterion of energy efficiency is proposed, which takes into account the amount of resource costs, the overall result and the duration of the excavator’s operating cycle.

Practical value. A mathematical model of the electromechanical system of an excavator with an electric drive according to the “generator-motor” system has been developed, which, taking into account the solution of the direct and inverse problems of the kinematics of the mechanical system of the excavator, makes it possible to compare parameters of various trajectories of movement of the excavator. The implementation of a closed system for positioning the excavator bucket in three-dimensional space was proposed, which creates conditions for increasing the level of automation of mining excavators. A criterion of the energy efficiency of the excavator’s technological cycle is proposed, which takes into account resource costs and the technological cycle duration.

Keywords: excavator, mathematical model, trajectory parameters, energy efficiency

References.

1. Tiwari, R., Knowles, J., & Danko, G. (2013). Bucket trajectory classification of mining excavators. Automation in Construction, 31, 128-139. https://doi.org/10.1016/j.autcon.2012.11.006.

2. Wehrmeister, M. A., Freitas, E. P., Binotto, A. P. D., & Pereira, C. E. (2014). Combining aspects and object-orientation in model-driven engineering for distributed industrial mechatronics systems. Mechatronics, 24(7), 844-865. https://doi.org/10.1016/j.mechatronics.2013.12.008.

3. Litvin, O., Litvin, Ya., Tyulenev, M., & Markov, S. (2021). On determining the parameters of face blocks during mining operations with backhoes. Gornaya promyshlennost – Russian Mining Industry, (6), 76-81. https://doi.org/10.30686/1609-9192-2021-6-76-81.

4. Guan, D., Yang, N., Lai, J., Siu, M.-F. F., Jing, X., & Lau, C.-K. (2021). Kinematic modeling and constraint analysis for robotic excavator operations in piling construction. Automation in Construction, 126. https://doi.org/10.1016/j.autcon.2021.103666.

5. Tytiuk, V., Khandakji, K., Sivyakova, G., Karabut, N., Chornyi, O., & Busher, V. (2021). Determining the parameters of the trajectory of the bucket of mining quarries excavators. E3S Web Conference, 280. Second International Conference on Sustainable Futures: Environmental, Technological, Social and Economic Matters (ICSF 2021), 05013. https://doi.org/10.1051/e3sconf/202128005013.

6. Raza, M. A., & Frimpong, S. (2017). Mechanics of Electric Rope Shovel Performance and Reliability in Formation Excavation. In Canbolat, H. (Ed.). Lagrangian Mechanics. IntechOpen. https://doi.org/10.5772/65333.

7. Khorzoughi, B. M., & Hall, R. (2016). A Study of Digging Productivity of an Electric Rope Shovel for Different Operators. Minerals, 6(2), 48. https://doi.org/10.3390/min6020048.

8. Svanberg, A., Larsson, S., Rikard, M., & Pär, J. (2021). Full-Scale Simulation and Validation of Wear for a Mining Rope Shovel Bucket. Minerals, 11(6), 623. https://doi.org/10.3390/min11060623.

9. Svanberg, A., Larsson, S., Mäki, R., & Jonsén, P. (2021). Full-scale simulation and validation of bucket filling for a mining rope shovel by using a combined rigid FE-DEM granular material model. Computational Particle Mechanics, 8, 825-843. https://doi.org/10.1007/s40571-020-00372-z.

10. Kaltjob, P. O. J. (2021). Control of Mechatronic Systems: Model-Driven Design and Implementation Guidelines. Hoboken NJ: John Wiley & Sons. ISBN: 978-1-119-50575-4.

11. Kitzig, J., & Bumiller, G. (2019). Evaluation of Power Quality Measurement System Concept using an experimental setup. 2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 1-6. https://doi.org/10.1109/I2MTC.2019.8826814.

12. Wilamowski, B. M. (2017). Control and Mechatronics (The Industrial Electronics Handbook). New York: CRC Press. ISBN 9781138073593.

13. Tytiuk, V., Lutsenko, I., Oksanych, I., & Rozhnenko, Zh. (2017). Development of the method for determining optimal parameters of the process of displacement of technological objects. Eastern European Journal of Enterprise Technologies, 6/3(90), 41-48. https://doi.org/10.15587/1729-4061.2017.116788.

14. Malafeev, S., Novgorodov, A., & Konyashin, V. (2020). Bench tests of the quarry excavators main electric drives. 2020 XI International Conference on Electrical Power Drive Systems (ICEPDS), 1-5. https://doi.org/10.1109/ICEPDS47235.2020.9249257.

15. Hughes, A., & Drury, B. (2013). Electric motors and drives Fundamentals, Types, and Applications (4 ^th ed.). Elsevier Ltd. ISBN: 978-0-08-098332-5.

16. Iqbal, A., Moinoddin, S., & Reddy, B. P. (2021). Synchronous Machines. In Iqbal, A., Moinoddin, S., & Reddy, B. P. (Eds.). Electrical Machine Fundamentals with Numerical Simulation using MATLAB/SIMULINK. https://doi.org/10.1002/9781119682684.ch7.

• < Prev
• Next >