OFR-3-76 Feasibility Of Remote Control And Development Of Remote Control Devices And Sensors ? Shuttle Car Sensor System - Supplement - Automatic Steering Control For Mine Shuttle Car (Phase I)

An automatic steering control system was designed, installed and tested on a coal mine shuttle car. The system utilizes sensors and associated signal processing electronics developed under a previous phase of this contract. The automatic steering system performs the routine guidance functions of turning corners and straight-through tramming. The shuttle car driver retains full authority of speed, braking, load and unload functions and at any time may exercise his option with manual override or steering. Steering information is generated from signals derived from the existing Lateral Guidance sensor subsystem, and all operational features of the previously developed open-loop system are retained. Above ground system tests were conducted in a simulated mine constructed of wood panel ribs. Results were in good agreement with prior hybrid computer simulations undertaken to validate the basic control system over a broad range of conditions and to select system parameter values. The automatic steering system was successfully demonstrated in the above ground simulated mine to USBM technical representatives. Designed to meet USBM permissibility requirements, the system is ready for a Phase II underground testing program. Testing in actual underground mine environment is expected to provide additional data regarding recommended performance improvements and implementation techniques.