Stability control for a huge excavator for surface excavation

摘要

In this study, we present an algorithm for the dynamic modeling of an excavator equipped with bucket wheels, which is used for surface mining activities. To develop a dynamic model of the excavator while working, we used data from the design theme, which described the mass distribution and elasticity of the technological system. During technological tests, the signals for vibrations and mechanical stresses were recorded in critical areas of the excavator structure. These records contained some modal information, which was also used to develop a simplified dynamic model. We also measured the elasticity of the thrust ball bearing, which is an oscillatory bearing and one of the most heavily loaded components in the excavator's structure. Finally, using the dynamic model, we calculated the natural frequencies for the principal subassemblies of excavator, where the modal frequencies obtained by the sensors while the excavator was running confirmed the good approximation of the model.