Heading Control for a Continuous Mining Machine.
Mng Auto : 4th Canadian Symp Saskatchewan 9/16-18/90 Saskatchewan Res Council PP 37-45 :37-45
The U.S. Bureau of Mines is conducting research into computer- assisted mining technology that reduces human exposure to dangerous mining operations. At present, the main thrust of research involves computer-assisted operation of a continuous mining machine. Machine navigation is one area playing a significant role in computer- assisted mining. Specifically, this paper focuses on an onboard system for machine orientation measurement. The system is also capable of closed-loop computer control of machine pivots and turns. In the initial system, control is based on sensor information from a gyroscope and two fluxgate sensors mounted on the machine. The computer is a dedicated microcontroller networked to an external system. With this system, testing is conducted in two areas. The first test area evaluates the operational characteristics of the sensors. Testing focuses on the fluxgate sensor's ability to provide an accurate indication of machine heading (yaw) during tramming movement and during manipulation of the machine's appendages. The second area of tests evaluates closed-loop control of machine yaw based on heading data supplied only by the gyroscope. The test setups and results are detailed for the initial machine system. Also described is a subsequent version (second generation) of the heading system incorporating new computer hardware and software. The subsequent version reduces the hardware content of the system while providing increased processing power and speed.
Mng. Auto.: 4th Canadian Symp., Saskatchewan, 9/16-18/90; Saskatchewan Res. Council, PP. 37-45