The causes of failure of the bucket teeth of the excavator during excavations in rocks are analyzed in the article. It is shown that the most typical cause of failure of bucket teeth is wear of teeth. The wear with soft rocks (less than 1100 HV) which hardness is lower than the hardness of steel in the cold-work hardened state, a preliminary cold-work hardening can essentially (up to 10 times) increase the material wear resistance. The wear with rocks, having greater hardness with hardness of ~1250 HV, the cold-work hardening do not lead to increase of the Hadfield steel wear resistance.

In this article, we consider the solution of adaptive control problems by developing a unified algorithm for regulator tuning. The task of adaptive control of dynamic processes in real time, today plays a key role in the development of modern control systems. Existing adaptive management development assumes, as a rule, an unchanged structure of the technological process, where only the parameters of the process under investigation are subject to change. To create such systems, detailed modeling of the technological process is necessary, while the typical management model after identification becomes unique for a particular enterprise due to the parameters found. This system is designed for operating objects that allows you to take into account the dynamic change of parameters in the process of object identification while the stage of mathematical modeling is replaced by a standard approximating model.

The necessary condition for the operation of crushers in the production of crushed granite is feeding of the crushers with granite fragments of a certain size. At the same time, granite fragmentation after blasting does not always meet the required size for the crushers and needs additional destruction by blasting or disintegration directly on site. Hydraulic breakers are most often used in disintegration of oversizes. For example, in quarries in Vietnam, JCB HM380 hydraulic breakers with a fracture energy of up to 2.5 kJ are widely used. The working tools of the hydraulic breakers are steel picks of various diameters and shapes. The operation of this tool is accompanied by its intensive wear due to the impact-abrasive action of rocks; the pointed part of the tool gets gradually blunted, which affects the rate of penetration of the pick in rock. In this regard, it is relevant to determine the influence exerted by the degree of wear of the pick on the performance of the hydraulic breaker, and to find out whether replacement or re-sharpening of the pick is expedient. In this paper, based on the previously determined crack propagation velocity in granite and the impact time, the length of the fracture is calculated. The dimensions of a crack in a granite block are calculated depending on the degree of blunting of the pick at a certain number of blows per cycle. At the same time, the limiting value of a crack that causes chipping of a piece from rock mass was considered as the fracture length to free surface at different degrees of pick blunting. Based on these calculations, the average productivity and energy input of disintegration process were determined. It is shown that for a tool with a completely worn tip, the decrease in the productivity and the increase in the energy input of fracture reach two times compared with a sharpened pick. In this regard, from the point of view of increasing the hydraulic breaker capacity, it is advisable to replace or re-sharpen the pick after complete wear of its tip.