The open pit mining of mineral deposits (first of all, the development of coal deposits) is of great importance for the economy of Russia as a whole, as well as for individual regions, including the Kemerovo region -Kuzbass. In 2018, 255.3 million tons of coal were extracted in Kuzbass, of which 165.8 million tons (65%) were produced by open-cast method. There is no reason to believe that the part of coal extracted at open-pit mines will decrease. Taking into account that the Russian Federation Government Decree No. 14-r of January 24, 2012 approved the Long-Term Development Programme for the Coal Industry of Russia until 2030, which includes, among other things, the Subprogramme "Development of Production Potential of Existing Coal Production and Processing Facilities and Development of New Coal Deposits", one of the objectives of which is the introduction of advanced coal production technologies, and the Subprogramme "Ensuring Technological Development of the Industry and Strengthening the Scientific and Technical Base of the Russian Coal Industry", it is safe to say that it is necessary to develop the key areas of this Program, in particular, the development of new and existing technologies and types of equipment aimed at improving the efficiency of coal mining, preparation, processing and integrated use and increasing the added value of coal products. Road transport currently dominates the transportation of overburden and coal at open-pit mines. Its share has been steadily growing since the 1970s. This is due to objective reasons, firstly, rather limited area of application of railroad transport: considerable range of transportation, large cargo turnover and shallow depth of the mine. First, it concerned the depth of the open-pit mines, because when deepening the quarry by one bench it was necessary to extract significant volumes of overburden to ensure the placement of transport berms because of the large radius of curvature of the railway track, which reached 200 m. Therefore, given the fact that the openpit mining had gone to great depths at almost all enterprises, there was a widespread abandonment of rail transport for in-quarry transport in favour of dump trucks. That is why the problem of research and description of key characteristics of quarry transport at open pit coal mining is actual.
It’s known that the use of the automobile vehicles in a quarry for transporting the rock mass is characterized by a cyclic nature and the ability to overcome the slopes of up to 8-12% along the road as well as curves with the radii of at least 20-24 m. However, the disadvantage of this way of transportation of quarry loads is relatively high costs [1]. One of the ways to reduce costs is to implement the software-based operation of the mining dump truck while ensuring energy efficiency and safety. This way implies following the route “mine face – concentrator” when driving with the rock mass and the route “concentrator – mine face” when driving without a cargo along the specified trajectory and at a given driving speed using the information management systems in a quarry and on the board of the mining dump truck controlled by the driver as well as in an unmanned version in case of autonomous driving. The article describes the method to optimize the function “way – speed” and as a result the way to optimize the control of the traction electric motors in a mining dump truck during cyclic movement along the specified trajectory with a fixed time to pass the route in order to ensure energy efficiency and safety when using the method of dynamic programming developed by Richard Bellman.
Аннотация: В статье приводится анализ современного состояния техники и технологии современного мирового уровня разработок в области создании карьерных самосвалов с накопителями энергии, выполнен по проекту «Создание высокотехнологичного производства семейства роботиз ированных карьерных самосвалов грузоподъемностью до 90 т с электромеханической трансмиссией на основе цифровых технологий». Показаны основные производители карьерной техники ведущих производителей с накопителями энергии, предназначенной для добычи полезных ископаемых открытым способом. Для постановки цели и задач исследования обоснованы основные предпосылки к разработке и созданию роботизированных карьерных самосвалов грузоподъемностью до 90 т с электромеханической трансмиссией. Сделаны выводы о подтверждении необходимости в разработке и создании электросамосвалов.
The paper describes control algorithms for a combined power plant made according to a sequential scheme for a 6x6 mining dump truck. The general approaches used in the development of control systems for similar power plants and transmissions are described. The methods of testing and simulation mathematical models used to analyze the operation of control systems for combined power plants are presented. As an example of control systems, the architecture of the developed system used for a mining dump truck is given. The developed control system and simulation model make it possible to analyze the behavior of the traction motor, energy storage device, transmission elements, and operational properties.
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