Three-dimensional Dynamic Modeling And Tension Balance Control Of Wire Rope In Ultra-deep Well Lifting System

With the rapid development of society,the demand for mineral resources is increasing.The exploitation of deep mineral resources has become the development strategy of all countries.Ultra-deep mine hoist is the key equipment for deep mining of mineral resources,and it is the throat equipment connecting the ground and underground.With the increase of lifting height,on the premise of safe operation,the hoist will face a series of problems,such as excessive tension,vibration detuning and so on.In double rope hoisting,there will also be problems such as vibration asynchronism and excessive tension difference.Based on the actual operation of double-rope winding hoist,this paper establishes a three-dimensional dynamic model of double-rope winding hoist in ultradeep wells by combining theoretical analysis,software simulation and experimental verification.Based on this dynamic model,a series of research and verification are done,and the study of tension passive control is introduced.The main research contents are as follows:(1)Based on Hamilton's principle,an accurate distributed parameter model of double-rope winding ultra-deep well hoisting system is established.Considering the tangential vibration of wire rope,the transverse-axial coupling vibration,the interaction between cage and flexible tank path in transverse and tangential vibration,and the equivalent time-varying moment of inertia of rolling,the infinite-dimensional distributed parameter system model with large time-varying,variable inertia and strong coupling is formed.Then the infinite dimensional parametric model is discretized into finite dimensional model by finite difference method,and the approximate solution is obtained.(2)Based on the three-dimensional dynamic model of the ultra-deep well hoisting system,a comparative analysis of the axial vibration,transverse vibration and dynamic tension changes of the hoisting wire rope and the two-dimensional dynamic model is carried out.At the same time,the tangential vibration of the hoisting wire rope,the position and posture of the cage and the reaction force of the tank path are analyzed and studied.(3)Based on the multi-body dynamics simulation software SIMPACK,the simulation model of lifting system is established.The simulation results are obtained and compared with the results of the dynamic numerical model,and then the correctness of the numerical model is verified.The experimental data of the axial vibration and tension change of the hoisting wire rope are obtained by using the built hoist test bench.The parameters of the dynamic model are modified to correspond to the parameters of the test bench one by one.The calculated results and experimental data are compared and analyzed,and the dynamic model is verified by experiments.(4)Aiming at the problem of excessive and unsynchronized vibration of double ropes,a method of setting the overhead wheel supporting the hoisting rope as a floating overhead wheel and coupling it with a connector is proposed to realize the passive control of the vibration of double ropes,restrain the axial vibration of the hoisting rope and the cage connected with it,and reduce the asynchronism of the vibration of double ropes and the tension difference of the rope.Through the above work,this paper establishes the three-dimensional vibration dynamic model of the ultra-deep well hoisting system,and uses the finite difference principle to solve the dynamic model,and calculates its numerical solution with the help of MATLAB software,obtains the three-dimensional vibration state of the ultra-deep well hoisting system,and verifies the numerical model by simulation and experiment,finally leads to the non-synchronous passive control of double-rope vibration.