Abstract
The drive toward increased safety for coal miners has led to the development of computer-assisted methods of underground coal mining. The development of control architectures and accompanying code 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 with accompanying code allows for the control of both cutting and free-space movement by a continuous mining machine (CM) and allows for a high degree of human operator interaction.
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