Abstract
The automatic control system TRASY is intended for real time monitoring and control of haulage trucks in open-pit mines with an arbitrary track configuration, various methods of loading and transportation, and both simultaneous and asynchronous interaction of ''mine-concentration mill'' pairs. The principle functions of the TRASY system provided by its application software are described along with methodology for describing the configuration of the transportation road network. Real time planning of loading and transportation is based on the solution of a static optimization problem formulated as a problem of integer programming; it is solved at equal time intervals or when the main parameters of the loading and transportation process are modified. The software includes a set of problem-solving algorithms and allows for a transition from one problem to another either automatically or as requested by the traffic controller for a given loading and transportation process. The software is modular and consists of the main control module plus the modules implementing the various control algorithms.
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