Optimising slew torque on a mining dragline via a four degree of freedom dynamic model

Abstract

In this study, a dynamic model of a dragline is developed in the form of a fundamental non-linear rotating multi-body system with energy dissipation. Its dynamic behaviour is investigated using measured field data. Model predictions of dynamic behaviour and stresses during operation are investigated and a comparison with measured data presented. Preliminary results from an investigation into reducing fatigue duty via improved slew torque control are also presented. The dynamics of the dragline bucket swing motion during house slewing (rotation) are of particular importance for both structural loading and efficient operation.

Keywords:

• Dragline
• dynamic model
• fatigue
• optimisation
• productivity
• mining
• non-linear
• stress

Additional information

Notes on contributors

C H McInnes

Charles McInnes received a Bachelors degree in Mechanical Engineering at the University of Queensland in 1999, with First Class Honours. He worked for four years as a research engineer with Industrial Automation Services (Newcastle), where he specialised in feedback control and modelling for steel mills. He started as a Research Assistant at the University of Queensland in 2003 and commenced his PhD in 2004 with CRCMining. His work now focuses on monitoring of metal fatigue, advanced feedback for operators of draglines, modelling of dragline dynamic behaviour and optimisation of bucket trajectory.

P A Meehan

Dr Paul Meehan is an expert in modelling, analysis and control in non-linear mechanics applied to engineering systems. He has over 15 years experience in engineering research, development, commercialization and consulting in the areas of non-linear dynamics, vibrations, controls, rolling contact, elastoplastic and wear phenomena, with applications to manufacturing, mining, railway, spacecraft and biomedical systems. He has initiated and led many successful large industry collaborative R&D projects in this area. Paul’s research on nonlinear phenomena in rotating multi-body systems has led to internationally-recognised contributions across various engineering systems.

Industry collaborative research on rolling mill dynamics and control by Paul has contributed to the development of theoretical models to simulate the previously intractable phenomena of rolling mill chatter. More recently, he has continued and extended research in advanced non-linear mechanics via analysis and control of smart mining machine dynamics and duty detection, rail corrugation and roll forming, and is a co-inventor of the recently-developed continuous press forming process. He was the principal developer of the dragline dutymeter technology from which several commercial technologies were spored.

Paul is currently leading major projects in prediction and control of non-linear phenomena in railway, mining and manufacturing systems, and is leading a start-up company to commercialise Millipede Technology. He has organised three international conferences in various areas of non-linear mechanics and has authored over 80 internationally refereed publications and three international patents in this area. He also teaches several intermediate and advanced level courses in mechanics at the University of Queensland, and consults regularly to high technology industries.