Global Trends in the Development of Battery-Powered Underground Mining Machines

Bołoz, Łukasz

doi:10.2478/mape-2021-0016

Cited by 5 publications

(2 citation statements)

References 18 publications

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“…The electrification and digitalization trend of heavy machinery supports the development of both these alternatives. The use of electric batteries with limited capacity requires more frequent and longer recharge times [9] or a complete battery exchange [10]. In this regard, having a hydraulic system with higher efficiency is advantageous, as the machine can operate for longer periods, but also reduce the overall energy cost even for newer or conventional fossil fuel equipment or hybrid solutions, thus also reducing emissions.…”

Section: Introductionmentioning

confidence: 99%

A Novel Multi-Pump System for Hydraulic Actuation in Electric Mobile Machinery

Gama

Heybroek

Ericson

2023

Linköping Electronic Conference Proceedings

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An observable trend nowadays is the change in the prime movers of mobile heavy machinery to electric alternatives to achieve more eco-friendly equipment. These solutions often require large and heavy batteries with limited capacity, making the research of more efficient components and the development of different system architectures an important topic of study. Hydraulic actuation is still a relevant application for these vehicles because of its reliability, controllability, and high power density. The electrification and digitalization of mobile machinery allow for innovative designs and control strategies to be implemented that take advantage of electro-hydraulic systems and their characteristics. Similar research has shown that a higher number of degrees of freedom allow for the system to operate with higher total efficiency. This paper introduces a novel actuation architecture that combines multiple fixed displacement hydraulic pumps and on/off directional valves to control the position and force of two hydraulic actuators for the working functions of a mobile machine. Each pump is powered by a variable speed electric drive so that each one can be operated independently, and together with the set of directional valves, allows the selection of different combinations of pumps and flow sharing between the actuators’ chambers to achieve the desired flow and pressure on each cylinder. The multi-pump system favours the use of smaller pumps, and the possibility of combining their flows reduces the need to operate the components at lower efficiency points such as partial displacement. At the same time, controlling the pumps’ flow through the variable-speed electric motors means that throttling valves are not needed. The development of this architecture will allow for its use in mathematical models to analyse its behaviour and efficiency and to obtain insights regarding points of improvement in the system architecture.

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Section: Introductionmentioning

confidence: 99%

A Novel Multi-Pump System for Hydraulic Actuation in Electric Mobile Machinery

Gama

Heybroek

Ericson

2023

Linköping Electronic Conference Proceedings

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“…Moreover, the working environment is harsh, which can seriously threaten the health of the driver: a large amount of dust in the laneway affects the respiratory system and the noise generated by the machinery hurts the hearing system. Although more and more battery-powered LHD vehicle chargers are being developed [1][2][3], most mines currently use the hydraulic LHD vehicles. In recent years, with the development of science and technology, unmanned LHD vehicles have become a research hotspot and they have solved the above problems.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Simulation of Unmanned Driving System for Load Haul Dump Vehicles in Underground Mines

et al. 2022

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This paper proposes the modeling and simulation of the unmanned driving system for underground load haul dump vehicles based on Gazebo/Ros. Firstly, the kinematics model of the load haul dump vehicle is derived. Then, the model of each part of the load haul dump vehicle is established based on SolidWorks and the model of the load haul dump vehicle is established by connecting the parts through a unified robot description format (URDF) file. Finally, the laneway model is established by using alpha shape to realize the modeling of the operating environment of the load haul dump vehicle. The speed, angular speed, bucket lifting, and bucket flipping of the load haul dump vehicle are controlled using PID. The experimental results show that: The control errors of the speed and angular speed of the load haul dump vehicle are 0.283 m/s and 0.010 rad/s, respectively. The control error of the lifting bucket is 0.025 m and that of the flipping bucket is 0.015 m. The angular velocity control error of the simulation system relative to the actual system is 0.330 and 0.106 m/s, respectively. The error between the SLAM of the simulation system and the actual system and the measured value is 0.917 and 3.44 m, respectively. The control performance of the load haul dump vehicle in the simulation system is good. Therefore, automatic driving algorithms can be studied and tested in this simulation platform.

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