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2 2019

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Drilling and bolting rigs operator support using FGS (Feeder Guiding System) and remote control

Sarecki Łukasz, Ostapow Lesław, Ławicki Piotr, Mendyka Paweł

New Trends in Production Engineering

2019

Vol. 2, Iss. 1

50--58

The article presents the assumptions and main functionalities of two operator support systems - the FGS (Feeder Guiding System) and the remote control system of a drilling or bolting rig. Both of these systems greatly facilitate the work of an operator of a self-propelled mining vehicle in the conditions of an underground metal ore mine. The first of the described system allows for real-time control of the current position of the mining boom and facilitates the drilling of blast holes according to a predetermined drilling pattern. The second of the systems - a remote control system - is used especially in conditions of unstable rock mass or in the case of work in particularly difficult operating conditions, where it is advisable to limit the presence of the crew from the face-up to the necessary minimum. The intensity of these vibrations was related to the conditions of the cutting process.

A new efficient adaptive control of torsional vibrations induced by switched nonlinear disturbances

Wasilewski Maciej, Pisarski Dominik, Konowrocki Robert, Bajer Czesław I.

International Journal of Applied Mathematics and Computer Science

2019

Vol. 29, no. 2

285--303

Torsional vibrations induced in drilling systems are detrimental to the condition of the machine and to the effectiveness of the engineering process. The cause of vibrations is a nonlinear and unknown friction between a drill string and the environment, containing jumps in its characteristics. Nonlinear behaviour of the friction coefficient results in self-excited vibration and causes undesirable stick-slip oscillations. The aim of this paper is to present a novel adaptive technique of controlling vibrating systems. The scheme is based on the linear quadratic regulator and uses direct measurements of the friction torque to synthesize its linear dynamic approximation. This approach allows generating a control law that takes into account the impact of the friction on the system dynamics and optimally steers the system to the desired trajectory. The controller’s performance is examined via numerical simulations of the stabilization of the drilling system. The proposed solution outperforms the comparative LQG regulator in terms of the minimization of the assumed cost functional and the overall stability of the control system under the nonlinear disturbance.