Load Weighing for Underground Mining Machines

Abstract: The goal of this work was to calculate the mass in the bucket of a underground loaderfrom pressure data in the cylinders. Three different approaches to using a Kalman filter toestimate the loaded mass were tried and evaluated in MATLAB simulations. Of these, twogave promising results when tried on real data and a combination of the two methods issuggested as solution to the problem. The filters required a model for the mechanics of themachine which was also derived.