An autonomous linear DC machine based mine locomotive is presented. The linear DC machine is modeled using an electromagnetic field based Lagrange analysis. The Lagrange based linear DC machine model is found to have the same result as the result that exists in literature. State feedback based on pole-placement control algorithm is used to control the speed of the mine locomotive to 3 m/s. The success criteria of the controller would be; achieving a settling time of 0.6 s and a speed of 3 m/s. The results presented show the desired performance specification (0.6 s settling time and 3 m/s speed). Therefore, the Lagrange modeling and the speed control of the mine locomotive is effective.
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机译：提出了一种基于自主线性直流电机的矿机车。使用基于电磁场的拉格朗日分析对线性直流电机进行建模。发现基于拉格朗日的线性直流电机模型具有与文献中相同的结果。基于极点布置控制算法的状态反馈将矿机车速度控制在3 m / s。控制器的成功标准为：达到0.6 s的建立时间和3 m / s的速度。给出的结果显示了所需的性能指标（0.6 s的建立时间和3 m / s的速度）。因此，矿山机车的拉格朗日建模和速度控制是有效的。
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