Study On Control Strategies For Conveyance Stationarity Of Double-rope Winding Deep Well Hoisting System

The existing hoisting systems are mostly single-rope winding hoisting system and multi-rope friction hoisting system,which have limitations on deep mines.Double-rope winding deep well hoisting system can overcome the issues that for a single-rope winding hoisting system,with the increasing mining depth,there is an increase in the diameter and weight of the wire rope,and widths and diameters of the drum and winding layers,which increases the production cost and installation difficulty.A multi-rope friction hoisting system needs tail ropes to keep balance,whose hoisting capacity rapidly decreases when the hoisting height is too great.Therefore,the double-rope winding deep well hoisting system have superiority on deep well hoisting.There will be wire rope hoisting asynchronization phenomenon while the double-rope winding deep well hoisting system is working,which influences the stationarity of conveyance.However,domestic and foreign researches on the related technologies of the system are not mature.Hence,supported by National Basic Research and Development Program of China(973 project)“Study on the prevention and safety operation of ultra-deep well in unsteady working conditions”,this dissertation conducts the theoretical and experimental researches on control strategies for conveyance stationarity of double-rope winding deep well hoisting system with the help of nonlinear dynamic modeling of hoisting system and valve control hydraulic cylinder system,signal transmission and control signal delay compensation,and nonlinear control theory,which provide significant theoretical support and technological means for the control strategies for conveyance stationarity of double-rope winding deep well hoisting system.Firstly,composition and working principle of the double-rope winding deep well hoisting system are introduced,then with consideration of the working principle,dynamic model of hoisting system and hydraulic cylinder used to drive movable headgear sheave,respectively.In order to ensre the conveyance stationarity of double-rope winding deep well hoisting system with different operation condition,conveyance levelling and wire rope tension coordination control model of double-rope winding deep well hoisting system are established.Subsequently,a test rig for double-rope winding deep well hoisting system to verify the accuracy of conveyance levelling and wire rope tension coordination control model.The test rig lays a solid foundation for the subsequent experimental researches on control strategies for conveyance stationarity.Secondly,in order to cope with the feedback signal transmission time delay and control signal time delay of double-rope winding deep well hoisting system,the time delay matrix models of conveyance levelling control and wire rope tension coordination control are established.Then,the feedback signal transmission time delay observer and control signal time delay observer are designed.The stability of double-rope winding deep well hoisting system with time delay observer is proved.Subsequently,a series of experiments are conducted on the test rig,and the effectiveness of the proposed time delay observer is validated.Thirdly,to realize the conveyance levelling control of double-rope winding deep well hoisting system,an adaptive backstepping controller is designed with consideration of paremeter uncertainties and extrernal disturbance owing to the established conveyance levelling control model.Then,considering the switching system of adaptive backstepping controller,which may make the system chattering.In order to cope with this problem,a nonlinear disturbance observer is proposed to online observer extrernal disturbance.Then,an adaptive backstepping controller combined with a nonlinear disturbance observer is designed.Subsequently,comparative experiments for conveyance levelling control of double-rope winding deep well hoisting system are carried out on the test rig,and the effectiveness of the proposed controller is validated.Finally,to realize the wire rope tension coordination control of double-rope winding deep well hoisting system,an adaptive backstepping controller is designed with consideration of paremeter uncertainties and extrernal disturbance owing to the established wire rope tension coordination control model.Considering the extrernal disturbance of wire rope tension coordination control model is hard to observed,adaptive fuzzy system is employed to improve switching system,and then an adaptive fuzzy backstepping controller is presented.Taking the measurement noise of state variables,a low gain state observer is obtained.Then,a combined controller composed of the low gain state observer and adaptive fuzzy backstepping controller is proposed.Subsequently,comparative experiments for wire rope tension coordination control of double-rope winding deep well hoisting system are carried out on the test rig,and the effectiveness of the proposed controller is validated.