Modeling and Control of Drill Rig Feeders

Sammanfattning: Autonomous mining machines can provide improvements in several desired aspects of the mining industry, ranging from improved safety and personnel expenses to machine utilization and fleets of machines working together. For these autonomous machines, control systems are essential. This thesis examines three different control strategies, PD, LQ, and PID, for a Boomer E drill rig from Epiroc. In order to develop control systems without spending valuable time on real world implementation and testing, simulations of control strategies are common. If a system is to be simulated, a model of the system is required which captures the dynamics of interest. The thesis examines different polynomial models for modeling of the dynamics of a SmartROC D65 drill rig from Epiroc.