Modelling, design and control of a mine-grade electro-hydraulic manipulator

TL;DRAbstract

This documentation addresses the modelling, design and control of a mine-grade electro-hydraulic manipulator. The purpose of the study is to develop and demonstrate automatic control tools that can be adopted to hydraulically powered multi-link mining equipment operating in underground mines to improve their safety and productivity performance. The challenge to such automation is achieving the desired positioning precision required by the nature of the mining function being performed. The obstacles include low manufacturing accuracy, highly nonlinear dynamic characteristics of the fluid power systems, lack of suitable sensors ruggedised for mining environment, and lack of proven automatic control techniques that can cope with the unpredictable and unstructured nature of underground mining environment. This documentation starts with a close look at the underground mining operation itself and the variety of tasks currently carried out electro-hydraulically manipulated multilink equipment

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