A motion control algorithm for a continuous mining machine based on a hierarchical Real-time Control System design methodology

The drive toward increased safety for coal miners has led to the development of computerassisted methods of underground coal mining. The development of control architectures for the control of the movement of continuous mining machines (tramming control) is an important part of this overall effort. The tramming control algorithm design described is in concert with hierarchical architecture design principles developed at National Institute of Standards and Technology (NIST), referred to as the Real-Time Control Systems (RCS) methodology. The algorithm design allows for the control of both cutting and free-space movement by a continuous mining machine and allows for a high degree of human operator interaction. 1 . INTRODUCTION The National Institute of Standards and Technology's (NIST) Robot Systems Division has been involved in the support of the United States Bureau of Mines' computer-assisted underground coal mining research effort since 1988. The Mining Automation Standard Reference Model (MASREM) [Hu 90-1, Al 89] has been developed to define the overall 1This work is sponsored by the U. S. Bureau of Mines under Interagency Agreement (J0189027).