Modelling And Control Of Ultra-deep Dualcable Winding Mining Elevators

Exploiting the deep mining sources becomes an urgent task of our country because of the increasing shortage of the mining sources.The mining cable elevator is an indispensable equipment in the deep mining exploitation.Many challenges would appear and damage the safety of the mining cable elevator as the hoisting height increases.One challenge is the increase of vibrations and dynamic loads,which would shorten the service life of the cables or even cause serious accidents.Therefore,the research about safe operation of the ultra-deep mining cable elevator should be conducted considering the safety and profitability.Based on the challenges of the dynamic tension imbalance and serious vibrations in a double-cable mining elevator which is suitable for deep mine exploitation,research on dynamic modeling and vibration control of the double-cable mining elevator is conducted in this thesis.Main contents are:① The distributed parameter model of a double-cable mining cable elevator is built via Hamilton principle,where the coupling of transverse-longitudinal vibrations in cables,coupling between cable and cage states,interaction between cage and flexible guides and the time-varying equal inertia moment of winding drums are considered.A fast time-varying,varying inertia and strong coupling infinite dimension system is formed.The vibration analysis based on the model is conducted and the imbalance rule of the double-cable mining cable elevator is obtained.② Considering the sensor signal delay problem in the mining cable elevator,a full-order state observer,which has the robust to time-varying sensor delays is designed to esti-mate vibration states of the mining cable and the cage.The compensation of time delay and the effective estimation of vibration states are achieved.③ Considering the challenges cased by the fast time-varying length of the mining cables,an observer-based output feedback controller acting at floating sheaves is proposed via backstepping to suppress the vibrations of cables and the cage.④ The cage may be subject to unknown external disturbances,such as guide jam and airflow impact.A disturbance estimator is designed to estimate the unknown external distur-bances acting at the cage.The active disturbance rejection control(ADRC)are combined with backstepping method to construct the controller which has robust to external distur-bances at the top floating sheave.The disturbance estimation and attenuation are achieved in the mining cable elevator.⑤ Considering vibration suppression,dynamic tension balance and coordinated con-trol in a high-speed,heavy load and ultra-deep double cable mining elevator,multi-objective coordinated controllers acting at the floating head heaves are designed based on the dynam-ic model of the dual-cable mining elevator using available measurements,to achieve the effective suppression of vibrations,reduction of inconformity between tension oscillations in two cables,and balancing the cage roll in the double cable mining elevator.