Partial Automation of a Dragline Working in Conjunction with a Hopper/Crusher/Conveyor Overburden Removal System

As part of the current NERDDC funded project studying Dragline/Hopper/ Crusher/Conveyor systems for overburden removal, an investigation was carried out to assess the feasibility of automating the swing-to-dump phase of the dragline digging cycle in order to main- tain consistent performance of spotting the bucket above the hopper prior to dumping. The study involved design of automatic position controls for the hoist, drag and swing drives and simulation of detailed mathe- matical models of the three electromechanical systems and their associated electrical control schemes. The design of the hoist and drag systems to position the bucket in the boom plane is relatively straightforward. Simulation results show fast and accurate performance, with no evidence of interaction between the two drive systems through the ropes. The design of the swing position control system involves special strate- gies to cater for variable inertia and to damp the pendulum oscillations of the bucket. The use of a bucket pendulum model and variable dynamic compensation embedded within the feedback control loop, along with optimal speed/angle slowdown trajectories, has yielded fast and damped positioning responses under simulation.