Study On Vibration And Control Of Double-rope In Winding Hoisting System

With the gradual exhaustion of shallow coal resources,coal mine is developing to increasing depth.The double-rope winding hoist is the key hoisting equipment for deep mines,and its safe and reliable operation is extremely important to the development of deep coal.However,the increase of mine depth will cause the hoisting system to be more sensitive to external disturbances,and it is easy to cause the hoisting rope to produce greater vibration,resulting in abnormal fluctuations in the hoisting rope tension,which seriously threatens the safety of coal mine production.Therefore,the vibration and tension fluctuation of the mine hoisting system under external disturbance has become a key problem to be solved urgently.This paper takes the double-rope winding hoist used in ultra deep mines as the research object,and conducts the following research on the vibration and control of the hoisting system under the disturbance of the head sheave swing,as well as the curvature and perpendicularity of rigid guides:(1)The dynamic model of a double-rope winding hoisting system is established.Based on the finite deformation and distributed parameter theory of the continuous medium,the kinetic energy,potential energy,virtual work and wire rope tension of the double-rope winding hoisting system are described.Based on the generalized Hamilton principle,the dynamic distribution parameter model of the double-rope winding hoisting system is established.In the double-rope winding hoisting system model,the horizontal-longitudinal coupled vibration of the hoisting rope,the drum is wound with the hoisting rope,the suspension rope and the vertical rope are coupled at the head sheave,the two hoisting ropes are coupled with the hoisting conveyance,and the interaction between the guides and conveyance are considered.Combining the Leibnitz's law with variable integration range and the partial integration method,and applying time and boundary conditions,the transverse-longitudinal coupled partial differential motion equations of the double-rope winding hoisting system are obtained.Based on the Galerkin method,the infinite-dimensional partial differential motion equations that are difficult to be solved are discretized into finite-dimensional ordinary differential equations that are easy to solve in the double-rope winding hoisting system.The experimental platform of the winding hoisting system has shown the effectiveness of the dynamic model of the double-rope winding hoisting system.(2)Aiming at the vibration of the hoisting rope under the swing of the head sheave,the vibration equation of the double-rope winding hoisting system under the swing of the head sheave is constructed.The swing of the head sheave is regarded as the boundary excitation between the end of the suspension rope and the initial end of the vertial rope of the double-rope winding hoisting system.Using Hamilton principle and polynomial interpolation method,the partial differential motion equations of the double-rope winding hoisting system under the swing of the head sheave are obtained.Based on the time domain normalization method and Galerkin method,the ordinary differential equations of the hoisting system are obtained.The influence of the amplitude and phase of the head sheave swing on the vibration and tension of the hoisting rope of the double-rope winding hoisting system is analyzed through numerical simulation and experiment.(3)Aiming at the vibration of the rope of the hoisting system with the curvature or perpendicularity of the rigid guide,the vibration equations of the double-rope winding hoisting system under the disturbance of the rigid guide are established.The curvature or perpendicularity failure of the rigid guide is converted into the transverse and longitudinal excitation at the ends of the vertical rope of the double-rope winding hoisting system.Based on the Hamilton principle and Galerkin method,the vibration equations of the double-rope winding hoisting system under the disturbance of the rigid guide are obtained.The effects of curvature or perpendicularity of the rigid guide on the vibrations and tensions of the vertical rope in the double-rope winding hoisting system are analyzed through simulation and experiment.(4)In view of the tension inconsistency of the double-rope winding hoisting system under the swing of the head sheave,curvature or perpendicularity of the rigid guide,it is proposed to install a magnetorheological damper at the end of the hoisting rope to control it.According to the magnetorheological damper of the test performance,the dynamic model of the magnetorheological damper of the double-rope winding hoisting system is constructed.Based on the Hamilton principle and Galerkin method,the control equations of the double-rope winding hoisting system with magnetorheological damper under the head sheave and rigid guide disturbance are established.Simulations and experiments show the effectiveness of the control method of the double-rope winding hoisting system based on the magnetorheological damper for the swing of the head sheave,curvature or perpendicularity of the rigid guide.An adaptive sliding mode controller is designed to obtain a continuously adjustable magnetorheological damping force,and the tension balance control problem of the hoisting system based on the damping continuously adjustable magnetorheological damper is analyzed.The dissertation has 90 figures,9 tables,and 153 references...