Study On Dynamic Characteristics And Control Methods Of Construction Shaft Formwork Suspension System

Construction shaft formwork suspension system is one of the important equipment in shaft construction.Its safe and reliable operation is an important step to improve shaft construction efficiency and ensure construction safety.During the lowering process of the formwork,due to the unsynchronized operation of the motor,the inconsistency of the winding rope on the reel,the elastic elongation of the rope and the processing error of the crown wheel,the lowering of the formwork will cause tilt,serious wall collision and even be stuck in the shaft,which will affect the construction efficiency and quality.In the process of formwork pouring,due to uneven concrete pouring,the formwork is tilted and causes uneven force on the rope,at this time,the upper edge of the formwork will drop and may fall beyond the stubble position of the shaft wall,which will lead to the shall have cracks on the shaft wall,which will cause accidents such as water seepage on the shaft wall,and affect the speed and safety of coal mining in the later stage.Therefore,it is imperative to study the dynamic characteristics and control methods of the construction shaft formwork suspension system.This papre focuses the problem of formwork inclination and uneven force during the lowering process and pouring process of the construction shaft formwork suspension system,this paper uses a combination of theoretical modeling,software simulation and experimental verification to study the kinematics of the construction shaft formwork suspension system and the control strategy provides a certain theoretical support for the safe and efficient operation of the formwork suspension system of the construction shaft.Firstly,in order to be able to better research on the construction shaft formwork suspension system,first analyze the force of the construction shaft formwork suspension system in the lowering and supporting phases.The inverse kinematics model of the construction shaft formwork suspension system is established,and its position inverse velocity inverse solution and acceleration inverse solution is obtained according to the vector principle.For the inverse kinematics of the construction shaft formwork suspension system,numerical calculation and Adams simulation are used to verify its correctness.Analyzing the parameters of the formwork suspension system of the construction shaft gave the formwork attitude control requirements.Secondly,in order to ensure the formwork has good dynamic characteristics in the decentralization stage,a single neuron PID adaptive control is designed to complete the control of the construction shaft formwork suspension system during the movement and lowering process.Based on the engineering needs of the construction shaft formwork suspension system in the pouring process,a hybrid controller for leveling and force balance is designed in view of the uneven forces that may occur during the casting of the formwork and established the Adams simulation model of the construction shaft formwork suspension system,which is used in the Simulink of Matlab the S function completes the preparation of the controller,and then the control effect of the controller is obtained through the co-simulation of Adams and Matlab.For the difficulty of information transmission and the deformation of the rope itself when the upper motor is used for adjustment,it is proposed to use hydraulic adjustment system connect the rope and the formwork to control the formwork attitude,the proposed hydraulic adjustment system is designed and the control model is established,the trajectory tracking control strategy and leveling strategy designed before are also applied to the hydraulic system,using Adams and Matlab co-simulation verifies the rationality of hydraulic adjustment system design and the effectiveness of the control method are verified.Finally,according to the actual construction shaft formwork suspension system,a simplified version of the simulation experiment system is built.First,the overall mechanical structure of the simulation experiment system and the software and hardware design of the control system are explained in detail.Then simulate the working process of the suspension system of the construction shaft formwork to verify the change process of the suspension load of the pouring process system.Finally verifies the correctness and effectiveness of trajectory tracking controller during the lowering process of the formwork and the leveling and adjustment during the pouring process.There are 72 figures,7 tables,93 references in this thesis.