Trajectory Optimization and Design for Cable Shovel Based on Asymmetric Multi-segment S-curve

doi:10.3901/JME.2025.05.263

Abstract

Abstract: As a key piece of equipment in open-pit mining, the cable shovel is large and structurally complex. It operates under varying working conditions and exhibits significant operational inertia. To enhance digging stability and smoothness, while reducing energy consumption, this paper proposes a trajectory planning method for cable shovels based on an asymmetric multi-segment S-curve velocity control. The kinematic model of the shovel dipper is derived analytically, providing a foundation for subsequent trajectory optimization. Structural constraints are set for the dipper, dipper handle, and rope, while performance constraints are set for the power of the crowd and hoist motors. The optimization goal is to minimize excavation energy consumption. Using a genetic algorithm (GA), the control times for each segment of the velocity curve are optimized, resulting in the optimal decision variables. The optimized variables are then input into the objective function for experimental validation. Results show that the velocity outputs of the dipper handle and rope exhibit no sudden changes, and the digging force output is stable. The digging trajectory is continuous and smooth. Energy consumption is significantly lower compared to T-curve and traditional symmetric S-curve control algorithms, demonstrating the effectiveness and superiority of the proposed method.

Key words: asymmetric, multi-segment s-curve, trajectory planning, cable shovel

CLC Number:

TH249

LONG Xiuhua, HU Zhengguo, FU Tao, LIAN Kaiyan, SONG Xueguan. Trajectory Optimization and Design for Cable Shovel Based on Asymmetric Multi-segment S-curve[J]. Journal of Mechanical Engineering, 2025, 61(5): 263-274.

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