Modeling and control of robotic mine haulage system

Abstract

Concepts borrowed from discrete and hybrid system simulation have been successfully applied in the design of a complex, distributed computer control system. The example presented is a rail haulage system for a horizontally cut coal mine. The system controls all train movements and haulage operations into and out of the mine. The control logic is embedded in the system software, distributed over three levels: 1. Central control (resident in a minicomputer) 2. Wayside control (five microcomputers in distinct mine sections) 3. Locomotive control (one microcomputer in each locomotive) The paper focuses on the wayside control. To accomplish the control objectives, the wayside software compares actual operation with the operation of a flexible reference model. That model gives the wayside control the ability to function like an intelligent robotic system.