The paper substantiates the need to create an autonomous dump truck control system. The scope of the unmanned mining dump truck is described. An example of the layout of the general scheme of an autonomous dump truck with control system basic elements is given, as well as some differences from the dump trucks with traditional control system are presented. The levels of automation of autonomous dump truck are formed. The enlarged tasks that need to be addressed when creating a control system for autonomous mining dump truck are highlighted. The general structure of a multi-level control system for autonomous dump truck was developed. The upper, middle and lower levels of the control system are described. The summation is drawn on the relevance of developing scientifically based approaches for creating control systems for autonomous mining truck, as well as developing mathematical models and algorithms for controlling autonomous mining trucks. The main directions for further research are identified. They are the development of requirements for a dump truck control system; the development of the structure of mathematical models and algorithms for the operation of subsystems of the dump truck control; the development of software that allows simulating the interaction of the subsystems of the dump truck control system with each other, the Smart Quarry system and the operator.

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The paper proposes a method to describe the dynamic behavior of unmanned mining dump trucks. The study presents the order of formation of spline-frames of the routes of unmanned dump trucks and analyzes the principle of dynamic modal control. The presented method allows using the mathematical apparatus of wavelet transforms to create trajectory control systems.

The paper presents the results of the development of dynamic modal control over the trajectory of the unmanned mining dump truck. The authors analyze the algorithm of current trajectory control and develop an algorithm for modal control of unmanned vehicles. The parameters of the modal regulator are assessed. The resulting parameters allow setting the required non-stationary poles of a closed-loop automatic control system with full state feedback. The study concludes that the automated system of modal control over the deviation of current trajectories of unmanned vehicles provides expeditious stabilization of the movement of unmanned vehicles along the quarry routes, which contributes to the efficiency and safety of the production process in open-cast mining.

Liner synchronous motor (LSM) is perspective motor for milling machines and other manufacturing equipment such as 3D printers, laser cutting and engraving machines, etc. Some different construction of LSM can be found. The LSM with permanent magnets is modeled in this paper. Comsol Multiphysics is used for finite element model of LSM. Motor stator is built using rear earth magnets N52, an anchor consists of 6 teeth with 3-phase winding. Large cogging force is the problem of LSM, so there is task to reduce this force. This task can be solved by motor geometry optimization. Geometric parameter of motor is represented by variables. It allowed using optimization methods for best geometry search. FEM model with two different mesh sizes is analysed in this paper. Each mesh allows find solution but calculation time and tolerance are different. During experiments, optimal size of tooth for maximal driving force is found. Cogging force is also reduced.