Computer simulation of movement and accurate positioning of mining electric locomotives trains when unloading cars

Abstract

The article discusses one of the options for solving the problem of precise control over the 14KA mine electric locomotive when rearranging cars for unloading into a tipper. VG-4.5 cars are unloaded by turning around the axis of drawbars designed with gaps of up to 0.2 m. The gaps and elastic shock-absorbers make it possible to present a mining train as a model of a chain of connected oscillators with gaps. The system of equations of such a model is very difficult to solve analytically. The authors propose to automate the operation of precise positioning of cars in the tipper using a given diagram of the electric locomotive movement. If you prevent the wheels of an electric locomotive from slipping on the rails during skidding and slipping, then, knowing instantaneous speed of the electric locomotive and the basic laws of rectilinear movement, it is easy to stop the electric locomotive in the required place. The stop of each car in the right place can be ensured by forcibly removing all the gaps. The intensity of braking of the electric locomotive should be such that the cars catch up with each other, but do not bounce back. Therefore, the locomotive at the end of travel should have a sufficient amount of kinetic energy. High rigidity of rubber shock-absorbers contributes to accuracy of car positioning in this way. To determine the required diagram for a moving mining locomotive, consisting of eight cars, a computer model is developed and implemented in the MATLAB environment. Thus, the required schedule of the electric locomotive movement determined as a result of studies and carried out on a computer model under the conditions specified in the model, enables moving the entire mining locomotive with arbitrary loading and high accuracy for unloading into the tipper. Therefore, further research should be aimed at finding ways to obtain data on the position of an electric locomotive relative to loading and unloading devices of cars, which are reliable in operation under real environmental conditions.