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Shovels play a key role in surface mining operations. Keeping the shovel payload inside the limits defined by manufacturers will reduce mechanical components wear and overheating of electric drive train components. This paper presents and evaluates two online estimation algorithms of shovel payload based exclusively on shovel drive signals. Proposed algorithms use a model reference adaptive system...
Paper presents an integrated kinematics and dynamic modeling of the swing, hoist and crowd movements of an electric mining shovel driven by regenerative vector controlled ac drives through ropes and gear reducers. The shovel is modeled as a 4-dof articulated mechanical system with three rotating joints and one prismatic joint. Using the developed models a typical truck loading cycle of digging, swinging,...
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