| With the increase of coal mining depth,the operation speed of mine hoisting system will continue to improve.The high-speed hoisting system is very easy to be disturbed by external excitation,resulting in large amplitude vibration displacement of hoisting rope that is a key component,and even collision behavior between the adjacent ropes,causing wear on the surface of hoisting rope,accelerating its fracture,and seriously affecting the stability and safety of the system.Therefore,research on the transverse vibration characteristics of the hoisting rope and performing transverse vibration recognition under external excitation are of great significance to the monitoring of the operation state of the hoisting system.Taking the hoisting vertical rope as the research object,and this thesis presents an in-depth study from the following five aspects:(1)The multi-directional disturbance vibration model of hoisting rope is built.Firstly,the energy of each component belonging to the hoisting system is analyzed,and the multi-directional disturbance vibration model of the hoisting rope under the coupling excitation of head sheave and rigid guide is established by using the generalized Hamilton principle.Then,the mathematical model is discretized into a set of ordinary differential equations containing parameters related to vibration displacement of hoisting rope by Galerkin truncation method.Finally,based on the experimental system,the dynamic model of the hoisting rope is verified by using the vibration measurement method of the hoisting rope proposed in this thesis.(2)Based on the dynamic model of hoisting rope,the transverse vibration characteristics of hoisting vertical rope are studied.Firstly,the transverse vibration displacement of hoisting vertical rope at different spatial positions under the excitation of the head sheave is analyzed,and the transverse vibration amplitudes of vertical rope at different positions at the same time are compared.It is determined that the position of the maximum vibration displacement of hoisting vertical rope at different times fluctuates up and down with the middle point position as the equilibrium point.Then,the transverse vibration displacement of the hoisting vertical rope at different spatial positions under the mixed excitations of head sheave and rigid guide is analyzed,the influences of different rigid guide excitation on the transverse vibration characteristics of the hoisting vertical rope are investigated,and the vibration features of hoisting vertical rope under the excitation condition of rigid guide are determined,and it also determines the maximum transverse vibration amplitude change will appear at the midpoint of hoisting vertical rope.All these analysis contents provide a theoretical basis for monitoring transverse vibration and the transverse vibration feature recognition of hoisting vertical rope.(3)The measurement method of composite transverse vibration of hoisting rope based on binocular stereo vision is developed.Firstly,the measurement principle of binocular stereo vision is introduced,and the vibration measurement process of hoisting rope is determined;the recognition method of measurement point on hoisting rope based on GST algorithm is presented,and the OCM algorithm is selected to track and locate the hoisting rope in the image.Secondly,the sub-pixel positioning of hoisting rope is realized by combining the surface fitting algorithm with the OCM algorithm.Then,an image stereo matching algorithm based on DIP and two-dimensional template matching algorithm is proposed.The algorithm simplifies the traditional stereo matching process and can realize the stereo matching of hoisting rope measurement point targets without markers.Finally,based on the experimental system,the accuracy of composite transverse vibration measurement method of hoisting rope proposed in this thesis is verified by using laser displacement sensor and acceleration sensor.(4)A method for synchronous measurement of composite transverse vibration of multiple hoisting ropes is established.Firstly,the problems of template matching algorithm in multi-rope target location are analyzed;Secondly,a multi same targets synchronous positioning algorithm based on Kalman motion estimation algorithm and OCM algorithm is developed,which is used for the simultaneous positioning and vibration measurement of rope targets in multi-rope hoisting system.Then,the the feasibility and real-time performance of this method is analyzed.It is determined that the method can not only measure the vibration of multiple ropes at the same time,but also improve the efficiency of vibration measurement.Finally,based on the experimental system,the accuracy and adaptability to the measurement distance and illumination conditions of the multi-rope vibration synchronous measurement method proposed in this thesis are verified by using laser displacement sensor and acceleration sensor.The accurate vibration displacement of hoisting vertical rope is obtained by using the composite transverse vibration measurement method of the hoisting rope,which provides reliable data support for the feature identification of transverse or lateral vibration of vertical rope.(5)The transverse vibration feature recognition method of hoisting vertical rope under rigid guide excitation is established.Firstly,a recognition method of vibration mutation feature of hoisting rope based on SVD and Teager energy operator is proposed.In this method,the mutation feature in vertical rope vibration signal is extracted by binary recursive SVD,and the mutation information is recognized by Teager energy operator.Then,a hoisting rope vibration trend identification method based on EMD and improved QTA is proposed.In this method,CEEMD algorithm is used to extract the trend term of hoisting rope vibration signal,and the improved qualitative trend analysis method is used to identify the detailed information in the trend term and determine the vibration trend primitive.The research results of this thesis can provide theoretical support for stable operation and condition monitoring of hoisting system and fault diagnosis of rigid guide.There are 112 figures,14 tables and 168 references in the dissertation. |
