Scientific Journal

Applied Aspects of Information Technology

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.
1. Butt, Yu. D., Gryadushchiy, V. B. & Debelyi, V. L. “Mining locomotive and railway vehicles”, Donetsk, Ukraine: 2013; Vol.1: 480 p. (in Russian). 
2. Sinchuk, I. O., Guzov, E. S., Debelyi, V. L. & Debely, L. L. “Mining electric locomotive vehicles. Theory, designs, electric equipment: textbook”. Sinchuk, O. N. (ed.). Krivoi Rog, Donetsk, Ukraine: Publ. ChP Shcherbatyh A.V. 2015. 428 p. (in Russian) 
3. Juan Manuel Cano Sanchiz. “Railways and mining: the role of the train in the exploitation of the CERRO MURIANO mine”. Córdoba, Spain: 2014. p. 128–148, 
4. Dovzhenko, V. P., Vakulchik, V. G. & Debelyiy, V. L. “Transistor modules for controlling mining locomotive drives”. Publ. Ugol Ukrainy. 2003. p. 16–18 (in Russian). 
5. Naysh, N. M., Beletskiy, Yu. V. & Maslov, A. V. “Modern railway transport”, Journal of EastUkrainian National University named after Volodymyr Dal. Severodonetsk, Ukraine: 2013; No.18 (207): 79– 84 (in Russian). 
6. Molatefi, H., Ferestade, I. & Taefi Aghdam N. Dynamic. “Modeling and Active Control of Slip Phenomenon in a Fouraxle Locomotive”. International Journal of Railway Rasearch, IJRARE. Tehran, Iran: 2019; No. 6(2): 153–162. URL: 
7. Jiateng Yin, Tao Tang, Lixing Yang, Jing Xun, Yeran Huang & Ziyou Gao. “State Key Laboratory of Rail Traffic Control & Safety. Research and development of automatic train operation for  railway transportation systems”. Beijing Jiaotong University, Beijing 100044, China: Transportation Research Part C: Publ. Emerging Technologies. 2017; Vol. 85: 548–572, 
8. Gerben M. Scheepmakerac, Helen Y. Willeboordsed, Jan H. Hoogenraadd, Ralph S. Luijtb, Rob M. & P.Goverdec. “Comparing train driving strategies on multiple key performance indicators”. Journal of Rail Transport Planning & Management. 2020; Vol. 13 100163: 1–26, 
9. Pivnev, V. A., German, A. G., Leontev, V. M. & Chernigov, V. M. “Industrial testing of electric locomotives with asynchronous drives at the integrated Kirov mine the PJSC “Apatite””. Journal Mining equipment and electromechanics. 2006; 3: 37–38 (in Russian). 
10. Jon Otegui, Alfonso Bahillo, Iban Lopetegi & Luis Enrique Díez. “A Survey of Train Positioning Solutions”. University of Deusto. Bilbao, Spain: IEEE Sensors Journal. 2017; Vol.17 Issue 20: 6788–6797. DOI: 10.1109/JSEN.2017.2747137. 
11. Markus Dammers, Gregor Brudek, Matthias Pütz & Andreas Merchiers. “Opportunities and Challenges of Rail Haulage Systems in Current Mining Operations”. Journal Engineering & Mining. Jacksonville, USA: 2016. p. 42–47. 
12. Klepikov, V. B. “Dynamics of electromechanical systems with nonlinear friction: monograph”. Pidruchnik NTU. Kharkov, Ukraine: “KhPI”. 2014. 408 p. (in Russian). 
13. Sinchuk, O. N., Sinchuk, I. O. & Boyko, S. N. “Power control system at mining enterprises aimed at increasing energy efficiency of iron ore mining”. Journal Technical electrodynamics. Kyiv, Ukraine: 2016. p. 60–62 (in Russian) 
14. Chernaya, V. O. “Analysis of monitoring systems mine transport and methods information transfer”. Proceedings of XI International scientific-technical conference of young scholars and specialists. Electromechanical and power systems, methods of simulation and optimization. Kremenchuk, Ukraine: KrNU. 2013. 130 p. 
15. Shan, W., Wei, L. & Chen, K. “Longitudinal train dynamics of electric multiple units under rescue”. Journal of Modern Transportation. 2017; Vol. 25: 250–260, 
16. Porshnev, S. V. “Computer simulation of physical processes in MATLAB”. Publ. Goryachaya liniya-Telekom. Hot line–Telecom. 2003 (in Russian). 
17. German-Galkin, S. G. “Computer simulation of semiconductive systems in Matlab 6.0: Teaching manual”. Saint Petersburg, Russian Federation: Publ. KORONA prints. 2001 (in Russian). 
18. Syomochkin, A. B. & Fedotov, V. O. “Control over traction electromechanical complex of a mining locomotive with open system AVI-AM”. Bulletin. Problems of energy and resource saving in electrical systems. Science, education and practice. Kremenchuk, Ukraine: KrNU. 2018; 5: 85–88 (in Russian). 
19. Sinchuk, I. O., Syomochkin, A. B. & Fedotov, V. A. “On principles of minimum colliding and maximum accurate control over moving cars of mining locomotives”. Journal of Kryvyi Rih National University. Kryvyi Rih, Ukraine: 2016; 42: 83–87 (in Russian). 
20. Yu Jiang, Zhixiong Li, Guang Yang, Yuelei Zhang & Xiaogang Zhang. “Recent progress on smart mining in China: Unmanned electric locomotive”. Advances in Mechanical Engineering. 2017; Vol.9(3): 1– 10,

Received. 03.08.2020
Received after revision 15.09. 2020
Accepted 20.09 . 2020
Last download:
7 May 2021


[ © KarelWintersky ] [ All articles ] [ All authors ]
[ © Odessa National Polytechnic University, 2018.]