IC 9293 Appendage Control Of A JOY 14CM Continuous Miner

This U.S. Bureau of Mines report describes the research effort and results for a computer-assisted appendage control system of a Joy 14CM continuous mining machine. The cutter head (shear), gathering head, conveyor, and stabilizer jack are the appendages. Positional control of each appendage is accomplished by specifying the desired position to the appendage control computer, which uses appendage position sensor data. Appendage movement is actuated until the desired position is attained as determined by control algorithms. A description of the sensors, mechanical and electrical interfaces, data acquisition and control (DAC) system, experimental method to determine appendage response characteristics (range of motion, start and stop delay times, and movement rates), and their application to the position control loop algorithms are presented. Also, the test results for the shear in an unloaded (free space) and loaded (cutting) condition of the shear are presented.