Dynamic modeling, parameter identification, and payload estimation of mining cable shovels

Abstract

This paper presents the application of the lease-squares estimation technique in identification of the cable shovel parameters and monitoring its payload. A data acquisition system was installed on a P&H2100 cable shovel and logged the cable shovel data for several loading cycles. The payload was dynamically estimated using the simplified dynamic cable shovel model we developed. The accuracy and repeatability of the algorithm has been verified based upon the cable shovel data logged during its normal operation at the mine.