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Title: Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990

Abstract

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.

Authors:
Publication Date:
Research Org.:
Bureau of Mines, Pittsburgh, PA (USA). Pittsburgh Research Center
OSTI Identifier:
6294393
Alternate Identifier(s):
OSTI ID: 6294393
Report Number(s):
PB-91-110692/XAB; BUMINES-RI--9326
Resource Type:
Technical Report
Resource Relation:
Other Information: Library of Congress catalog card No. 90-2101
Country of Publication:
United States
Language:
English
Subject:
01 COAL, LIGNITE, AND PEAT; 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-)

Citation Formats

Sammarco, J.J.. Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990. United States: N. p., 1990. Web.
Sammarco, J.J.. Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990. United States.
Sammarco, J.J.. Mon . "Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990". United States. doi:.
@article{osti_6294393,
title = {Mining-machine orientation control based on inertial, gravitational, and magnetic sensors. Report of Investigations/1990},
author = {Sammarco, J.J.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jan 01 00:00:00 EST 1990},
month = {Mon Jan 01 00:00:00 EST 1990}
}

Technical Report:
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