Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990
The U.S. Bureau of Mines seeks to increase safety and efficiency in U.S. coal mines. One approach is to develop technology for automation of a continuous mining machine. Realization of an autonomous mining machine requires development of subsystems for machine intelligence, navigation-positioning, and computer control. The report focuses on investigation of one subsystem, an onboard heading system, which would be responsible for determining and controlling machine heading. The onboard heading system investigated is a multisensor system to determine machine heading, pitch, and roll. A directional gyroscope provides heading (yaw), fluxgate sensors provide a compass heading, and gravity-referenced clinometers give machine pitch and roll. The system utilizes a dedicated microcontroller networked to an external system of computers. Tram commands, supplied to the network from external computers, are executed by the onboard system. Sensor feedback is employed for closed-loop control of machine heading by controlling pivots and turns. The report discusses operating limitations and error sources of system sensors and presents test results of closed-loop control of machine heading.
- Research Organization:
- Bureau of Mines, Pittsburgh, PA (USA). Pittsburgh Research Center
- OSTI ID:
- 6294393
- Report Number(s):
- PB-91-110692/XAB; BUMINES-RI-9326
- Resource Relation:
- Other Information: Library of Congress catalog card No. 90-2101
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
CONTINUOUS MINERS
ELECTRONIC GUIDANCE
NAVIGATIONAL INSTRUMENTS
PERFORMANCE
AUTOMATION
CLOSED-LOOP CONTROL
COAL MINING
COMPUTERIZED CONTROL SYSTEMS
GYROSCOPES
ORIENTATION
POSITIONING
SAFETY ENGINEERING
UNDERGROUND MINING
US BUREAU OF MINES
CONTROL
CONTROL SYSTEMS
CUTTER LOADERS
CUTTING MACHINES
ENGINEERING
EQUIPMENT
HAULAGE EQUIPMENT
LOADERS
MATERIALS HANDLING EQUIPMENT
MINING
MINING EQUIPMENT
NATIONAL ORGANIZATIONS
US DOI
US ORGANIZATIONS
012033* - Coal
Lignite
& Peat- Underground Mining- Mine Environment- (1987-)