Modeling and control of n+m cooperative elevators and multiple fixed-track wagons in a mine

In the present paper, the mathematical model of a system for transporting materials and tools to and from the surface of an underground mine. Special elevators are used to transport products between the levels of the mine, while wagons moving on a fixed track (rails) are used to move materials on the same level. The mathematical models of the individual subsystems of the system will be presented using finite deterministic automata. The overall system will then be modeled as a finite deterministic automaton. The desired behavior of the system will then be specified in the form of a regular language. The properties of the desired languages will be investigated in relation to the overall automaton of the system. The possibility of designing a modular supervisory control architecture will be investigated.