Research On The Wire Rope Tension Balance Control Of Double-rope Winding Hoisting System In Deep Coal Mine

As one of the key equipment of coal mining enterprises,hoister is mainly responsible for the transportation of large equipment,coal and personnel.The safety and reliability of its system operation are related to the production efficiency and personnel safety of enterprises.The double-rope winding hoist can effectively avoid the problems that the lifting capacity of the traditional multi rope friction hoist decreases sharply with the increase of height and the wire rope diameter and production difficulties of the single rope winding hoist.It has obvious advantages in deep well hoisting.However,the double rope winding hoist uses two steel ropes to lift a container at the same time.Affected by the manufacturing and installation error of the drum,the different elastic elongation of the steel rope and the large constraint of the rigid tank way on the container,the two steel ropes will have a large tension difference and cause the longitudinal vibration of the steel rope and the container,which will aggravate the fatigue damage of the steel rope and reduce its service life.Therefore,under the support of the Shanxi coal based low carbon joint fund project of the National Natural Science Foundation of China,"Electro-hydraulic intelligent control method for high-speed and safe operation of large-tonnage hoisting container in deep coal mine",this paper takes the double rope winding lifting system as the research object,and studies the wire rope tension balance control strategy of the double rope winding lifting system by using the methods of dynamic modeling,delay compensation state observation,nonlinear control theory,simulation and experimental verification,It is expected to provide theoretical and experimental basis for the application and smooth operation of double rope winding hoist.The main work of this thesis is as follows:Firstly,because the double rope winding hoisting system and valve controlled hydraulic cylinder system belong to two different groups of nonlinear systems,and considering that the two steel ropes have similar dynamic characteristics,and their respective floating sheave control systems are also relatively independent.Therefore,taking the single rope winding hoisting system as the research object,the dynamics model of the single rope winding hoisting system and the valve controlled hydraulic cylinder system dynamics model are established based on Hamilton principle and Lagrange equation respectively.In order to verify the correctness of the established system model and the effectiveness of the subsequent control algorithm,a double rope winding hoisting system test-bed is built.In the Simulink environment,the simulation program of the lifting system ontology model and the control program of the double rope winding lifting system test-bed are established respectively.Through the comparative analysis of simulation and test,it can be known that there will be large longitudinal vibration of steel wire rope and lifting container during the operation of hoist.When two hydraulic winches are given different reference lifting rate curves,there will be a large tension difference between the two steel ropes due to the influence of rigid tank way.Secondly,based on the simulation analysis and experimental verification in Chapter 2,for the lifting system with rigid tank track,the vibration of steel wire rope and container is mainly longitudinal vibration.Therefore,in order to facilitate the subsequent design of state observer and controller,the dynamic model of lifting system is reasonably simplified.At the same time,considering the transmission delay of wire rope tension and vibration signals collected in real time by wireless transmission in the actual hoisting system,the boundary delay vibration model of single rope winding hoisting system is established.In order to compensate the delay of feedback signal and improve the control accuracy of the system,a delay compensation state observer is designed,including delay observer and state observer,which are used to observe the system delay and delay state respectively.Based on Lyapunov-Razumikhin theory,the asymptotic stability of delay observation error and state observation error is proved respectively.Based on the double rope winding lifting test-bed,the designed delay compensation state observer is verified by experiment.The results show that the output signal of the delay compensated state observer designed in this thesis is significantly improved in phase and error compared with the feedback signal with delay.Thirdly,aiming at the problem that the elastic characteristics of the steel wire rope in the hoisting system and the external interference will cause the longitudinal vibration of the steel wire rope and the hoisting container,based on the body dynamic model of the hoisting system established in Chapter 3,taking a single steel wire rope as the research object,a robust boundary controller based on the accurate model is designed.Then,combined with the adaptive law of uncertain parameters of the system,an adaptive robust boundary controller for longitudinal vibration suppression of winding hoisting system is proposed.Then,the adaptive backstepping force controller of valve controlled hydraulic cylinder system is designed to improve the force reproduction control accuracy of valve controlled hydraulic cylinder system.The stability of the system is proved by Lyapunov theory.The experimental results show that the boundary force controller and force recurrence controller proposed in this thesis can effectively suppress the vibration acceleration and vibration displacement of the lifting container.Finally,aiming at the problems of tension imbalance of two steel ropes and vibration of lifting container caused by drum manufacturing and installation error and different elastic deformation of steel rope,considering the coupling vibration between two steel ropes and lifting container,the body dynamic model of double rope winding lifting system is established.Taking the wire rope tension balance control and the longitudinal vibration suppression of lifting container as the control objectives,and considering the uncertain parameters and unknown disturbances in the system,an adaptive robust boundary controller for wire rope tension balance based on parameter adaptation is finally formed.The experimental results show that the controller proposed in this thesis can effectively adjust the tension difference between the two steel ropes and suppress the longitudinal vibration of the lifting container.