[1]LU Tienfu.Fuzzy logic for large mining bucket wheel reclaimer motion control—from an engineer’s perspective[J].CAAI Transactions on Intelligent Systems,2011,6(1):85-94.
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Fuzzy logic for large mining bucket wheel reclaimer motion control—from an engineer’s perspective

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 1 Page number: 85-94 Column: 学术论文—人工智能基础 Public date: 2011-02-25
Title:
Fuzzy logic for large mining bucket wheel reclaimer motion control—from an engineer’s perspective
Author(s):
LU Tienfu
School of Mechanical Engineering, University of Adelaide, North Terrace Adelaide, South Australia SA 5005, Australia
Keywords:
bucket wheel reclaimer;  modeling;  simulation;  motion control;  fuzzy logic 
CLC:
TP273.4
DOI:
-
Abstract:
The bucket wheel reclaimer (BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials (i.e. iron ore and coal) in places such as ports, ironsteel plants, coal storage areas, and power stations from stockpiles. BWRs are very large in size, heavy in weight, expensive in price, and slow in motion. There are many challenges in attempting to automatically control their motion to accurately follow the required trajectories involving uncertain parameters from factors such as friction, turbulent wind, its own dynamics, and encoder limitations. As BWRs are always heavily engaged in production and cannot be spared very long for motion control studies and associated developments, a BWR model and simulation environment closely resembling real life conditions would be beneficial. The following research focused mainly on the implementation of fuzzy logic to a BWR motion control from an engineer’s perspective. First, the modeling of a BWR including partially known parameters such as friction force and turbulence to the system was presented. This was then followed by the design of a fuzzy logicbased control built on a modelbased control loop. The investigation provides engineers with an example of applying fuzzy logic in a model based approach to properly control the motion of a large BWR following defined trajectories, as well as to show possible ways of further improving the controller performance. The result indicates that fuzzy logic can be applied easily by engineers to overcome most motion control issues involving a large BWR.
References:
［1］LU Tienfu, XU Shihong. SPSim: a stockpile simulator for analyzing material quality distribution in mining［C］//International Conference on Mechatronics and Automation (ICMA 2010). Xi’an, China, 2010: 299304.
［2］CHOI C, LEE K, SHIN K, et al. Inverse kinematics of a reclaimer: redundancy and solution［C］//IEEE International Conference on Systems, Man, and Cybernetics. Orlando, USA, 1997: 28832887.
［3］CHOI C, LEE K, SHIN K, et al. Automatic landing method of a reclaimer on the stockpile［J］. IEEE Transactions on Systems, Man, and Cybernetics—Part C: Applications and Reviews, 1999, 29(1): 308314.
［4］HONG K S, CHOI C. Taskoriented approaches to the inverse kinematics problem for a reclaimer excavating and transporting raw material［J］. Advanced Robotics, 2000, 14(3): 185204.
［5］LU Tienfu. Bucket wheel reclaimer modelling as a robotic arm［C］//IEEE International Conference on Robotics and Biomimetics. Guilin, China, 2009: 263268.
［6］LU Tienfu. Preparation for turning a bucket wheel reclaimer into a robotic arm［C］//IEEE International Conference on Robotics and Biomimetics. Bangkok, Thailand, 2008: 17101715.
［7］LU Tienfu, LIN G C. Intelligent systems techniques and their application in manufacturing systems［M］//LEONDES C T. Expert systems: the technology of knowledge management and decision making for the 21st century. San Diego, USA: Academic Press, 2002: 381410.
［8］LU Tienfu, MYO M T R. Optimization of reclaiming voxels for quality grade target with reclaimer minimum movement［C］//The Eleventh International Conference on Control, Automation, Robotics and Vision(ICARCV 2010). Singapore, 2010: 13501410.
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