Automatized Excavator-Dragline

The paper presents the outline of the results in the algorithms and software of the microprocessor-based system for the powerful drugline bucket automatic motion, as well as the technological process control and functional diagnostics of the electrical equipment. The system is, aimed at the increasing both the draglines' working efficiency and the professional, competence of the operators. The excavator-dragline, equipped by the automatized operation, diagnostic and information processing system, possesses considerable technological: flexibility, which can widen therefore its field of application. The tasks of the dragline bucket motion optimal operation, programming of the excavation and overburden dumping processes, as well as the tasks of the control and the analysis of the technological parameters and the diagnostics of electrical equipment conditions, are defined in the paper. In our paper we present the results of these tasks being solved, providing the algorithms of the main mechanisms for the automatic operation for the swinging bucket controlled motion, the algorithms of the statistical analysis of the working efficiency parameters the algorithms of the diagnostics for electrical driving systems. The algorithms of the motion operation are constructed using the predicting dynamic models. The diagnostic algorithms at the normal working conditions form a number of algebraic invariants always equal to Ø with the accuracy up to when the electrical equipment is parametrically adequate. The algorithms of evaluating and analysis of the excavation efficiency make use of the direct measurement and analytical identification. The working condition and quality of the operation and control algorithms are investigated by simulation and natural testing. The results of the mathematical simulation of the bucket motion (with the 20 m3 capacity) of the excavator-dragline with the boom of 90 m in length are given in the paper.