Excavation Trajectory Planning with Optimal Energy Consumption for Mining Electric Shovel

doi:10.12141/j.issn.1000-565X.230668

Abstract

Abstract:

The mining and loading operations are the central link in the open-pit coal mining process, and its energy consumption accounts more than half of the total energy consumption of open-pit coal mining and loading, which determines the mining efficiency and equipment energy consumption. Traditional open-pit coal mining and loading operations are completed by manually operating mining electric shovels, and the process is of low excavation full-bucket rate and high energy consumption. To further reduce the energy consumption and meet the requirements of unmanned and intelligent electric shovels, this paper deals with the optimal excavation trajectory of mining electric shovels. In the research, firstly, a kinematic analysis was conducted on the working device, and the relationship between the pose space and joint space of the working device was revealed through kinematic forward and inverse solutions. Secondly, a dynamic analysis was conducted on the working device of the mining electric shovel. Based on the static analysis of the working device during the excavation process, as well as the analysis of dynamic excavation resistance and material gravity, the Lagrange dynamic equation of the working device was constructed. Then, based on the particle swarm optimization algorithm and the optimization design model of trajectory planning, the optimal excavation trajectory for excavation energy consumption per unit material volume was obtained. Moreover, the effects of material pile surface characteristics, operating parameters and fitting functions on the energy consumption and operation stability of the working device were analyzed, and an excavation trajectory planning strategy that balances energy conservation and stability was proposed. Finally, an experimental study was conducted on the optimal excavation trajectory planning. The results show that the proposed excavation trajectory planning method based on the optimal energy consumption per unit material volume can ensure the efficiency and energy-saving requirement during the excavation with mining electric shovel.

Key words: mining electric shovel, working device, energy consumption, trajectory optimization, particle swarm optimization algorithm

CLC Number:

TP242.2

WANG Wei, ZHANG Yuan, SHI Shaoyu, SHEN Gang, YANG Wenqing. Excavation Trajectory Planning with Optimal Energy Consumption for Mining Electric Shovel[J]. Journal of South China University of Technology(Natural Science Edition), 2024, 52(12): 52-64.

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Table 1

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参数	数值		数值
斗杆伸长行程/mm	400~1 100	斗杆组件质量/kg	25.994
斗杆旋转行程/（°）	0~120	最大推力/N	4 000
铲斗宽度/mm	344	最大提升力/N	3 000
铲斗组件质量/kg	18.071

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