This article discusses the work that resulted in the development of two battery-powered self-propelled electric mining machines intended for operation in the conditions of a Polish copper ore mine. Currently, the global mining industry is seeing a growing interest in battery-powered electric machines, which are replacing solutions powered by internal combustion engines. The cooperation of Mine Master, Łukasiewicz Research Network—Institute of Innovative Technologies EMAG and AGH University of Science and Technology allowed carrying out a number of works that resulted in the production of two completely new machines. In order to develop the requirements and assumptions for the designed battery-powered propulsion systems, underground tests of the existing combustion machines were carried out. Based on the results of these tests, power supply systems and control algorithms were developed and verified in a virtual environment. Next, a laboratory test stand for validating power supply systems and control algorithms was developed and constructed. The tests were aimed at checking all possible situations in which the battery gets discharged as a result of the machine’s ride or operation and when it is charged from the mine’s mains or with energy recovered during braking. Simulations of undesirable situations, such as fluctuations in the supply voltage or charging power limitation, were also carried out at the test stand. Positive test results were obtained. Finally, the power supply systems along with control algorithms were implemented and tested in the produced battery-powered machines during operational trials. The power systems and control algorithms are universal enough to be implemented in two different types of machines. Both machines were specially designed to substitute diesel machines in the conditions of a Polish ore mine. They are the lowest underground battery-powered drilling and bolting rigs with onboard chargers. The machines can also be charged by external fast battery chargers.
Design and Research on Power Systems and Algorithms for Controlling Electric Underground Mining Machines Powered by Batteries
