Dynamic Shovel Excavation Simulator in Surface Mining Operations

摘要

Shovel excavators are widely used as primary production equipment in surface mining operations for removing overburden and ore materials. The efficiency and costs of mining operations greatly depend on the efficient use of these capital-intensive equipment. The physical and mechanical properties of the materials being excavated may result in fatigue failure in equipment components, unplanned downtimes, reduced effeciency and high production costs. An intelligent shovel excavation (ISE) technology is used to the solve these problems. The ISE technology uses hybrid sensors to capture data on excavation resistance for processing and display on onboard screens in the operator's cabin for real-time decisions on fragmentation, in-pit blending and stockpiling of materials. In this paper, dynamic models for the electric cable shovel are derived by analyzing each link in succession as a free body and applying the Newton-Euler formulation in the local coordinate frame. The responses from an assumed digging trajectory are analyzed. The models presented in this paper form the basis for developing comprehensive simulators for efficient shovel operations in constrained mining environments.