Abstract

Abstract The key focus in this study is on gravity fed linear DC machines used to drive mine locomotives. A case for optimal control singularity analysis for this tandem pair of gravity fed linear DC machines on a slope is thus presented. The key operational feature is for a generator locomotive to drive a motor locomotive with gravity providing the machine disparity for generator and motor action. Optimal control formulation is extended in this study, particularly optimal control singularity formulation. The optimal controller should be able to minimize the relative displacement between the machines. Mine locomotive dynamics results are also presented to show that the differential velocity and displacement are minimized. The performance index and Lagrangian are also minimized. The optimal control formulation is demonstrated via switching function differential calculus. The solution is shown to improve mine locomotive energy performance.

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