In this study, 2 degree of freedom PID controller is added to the conventional feed-forward controller for the purpose of improving its limitations such as set-point of tracking performance and disturbance suppression performance in the conventional PID controller. And the controller parameters optimization as a Real Coded Genetic Algorithm (RCGA) is used. Simulation and experiments verify the performance of the controller.
Mining diggers have been substituted with the robots for the mining works in dangerous and narrow tunnel, and those demands are increased in nowadays. In this study, experimental research on the remote controlled robots to perform after the development of the robot. According to the test results, performances of the developed robot and its working devices have been modified several times. It has been considered that the robot keeps its optimum performance in states as follows; driving speed 1.0 km/h, crawl angle 10°, spiking cycle 500bpm and breaking power 30 kg f m. And also it has been found that sufficient cooling for the robot's working parts is essential to extend those working periods longer than 3 hours steadily under rating condition.
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