Development of a system to control the motion of electric transport under conditions of iron-ore mines

Based on the study of properties of an electric train as a control object, it has been proven that considerable speed fluctuations and shock loads caused by the presence of elasticity and gaps in the coupling devices take place during the train acceleration and stoppage. These loads cause current fluctuations in armature of the traction DС motors of electric locomotives, which adversely affects their service life. By studying the mathematical description of the dynamic system consisting of an electric locomotive and a set of wagons, a model was synthesized that allows one to investigate the processes taking place in this system when motion and coupling device parameters alter. On the basis of the mathematical dependencies obtained, an algorithm was developed that enables parametric optimization of the system from the point of view of minimizing collisions of the train wagons during acceleration and braking. A characteristic feature of the algorithm that distinguishes it from existing ones is that the "locomotive – wagons" complex is considered with taking into account presence of elastic coupler and gaps between the train elements. The problem of eliminating dynamic loads caused by oscillating processes of the "locomotive – wagons" complex was solved which made it possible to conduct an analytical construction of a system for optimal control of the material handling processes of electric transport in conditions of iron ore mines. Application of this system makes it possible to optimally perform high-speed loading of wagons with raw materials and their unloading. It is expected that application of this approach thru shortening the time spent in shifting the wagons for their loading will increase productivity of the mine transport by 20–30 %