Analysis of Torque, Speed, and Power Requirements in Electric Rope Shovel Loading Cycles using Kinematic and Dynamic Models

Peralta J.R.C., Junior; Espinoza G.A.E.; Ojeda C.M.; Echaiz Espinoza F.E. · SSRG International Journal of Electrical and Electronics Engineering (2026) · DOI: 10.14445/23488379/ijeee-v13i1p108

Resumen

This article presents an integrated kinematic and dynamic analysis of the electric rope shovel and the torque, speed, and electrical power demands of the main actuators (swing, hoist, and crowd) during the loading cycle. We combine (i) a 4-degree-of-freedom articulated mechanical model with three rotating joints and one prismatic joint, modeling developed following the steps of the Denavit–Hartenberg methodology; (ii) Newton–Euler dynamic formulation to compute joint torques and link forces; and (iii) processing offield records to parameterize and validate the simulations. MATLAB scripts were used for model implementation, forward kinematics, dynamic simulation, and signal processing of measured motor torque, speed, and power traces. Results show that (a) the developed kinematic and dynamic model is a typical truck loading cycle; (b) regenerative vector-controlled AC drives enable substantial energy regeneration—most notably in swing motion and to a lesser extent in hoist and crowd motions; and (c) differences between simulated and field records of torques are within operational margins during the loading cycle. The results of the simulations, as well as the analysis of energy consumption and regeneration, demonstrate that these tools can facilitate the identification of opportunities to implement improved operational practices, thereby ensuring optimal and safe performance of electric rope shovels. The study contributes (1) the development of a kinematic and dynamic model for electric rope shovels, (2) data analysis and visualization using MATLAB for optimal performance monitoring of the electric rope shovels, and (3) an analysis of energy consumption and regeneration during the truck loading cycle.

Instituciones: Universidad Nacional de San Agustín de Arequipa