双绳缠绕式煤矿深井提升系统钢丝绳张力主动控制方法

针对双绳缠绕式煤矿深井提升系统运行过程中钢丝绳张力不平衡问题,提出了钢丝绳张力主动控制方法。首先,分析双绳缠绕式煤矿深井提升系统钢丝绳张力与浮动天轮液压缸负载力之间的关系,考虑系统存在的非线性问题,建立了提升系统钢丝绳张力主动控制模型;其次,由于煤矿深井提升环境恶劣,因此钢丝绳张力反馈信号通过无线装置进行采集,考虑提升系统运行过程中钢丝绳张力反馈信号通过无线传输存在不确定延时问题,基于系统控制模型构建了钢丝绳张力主动控制矩阵,设计了钢丝绳张力无线反馈信号传输延时补偿观测器,证明了包含延时补偿观测器的钢丝绳张力主动控制模型的稳定性;然后,考虑钢丝绳张力主动控制模型是一种严格反馈模型,存在输出约束问题,提出了反步控制和障碍李雅普诺夫函数相结合的钢丝绳张力主动控制方法,并证明了钢丝绳张力控制下的提升系统稳定性;最后,利用双绳缠绕式煤矿深井提升试验台对提出的传输延时补偿观测器及钢丝绳张力主动控制方法开展了实验验证,实验结果表明,延时补偿观测器可有效减小由于无线传输造成的钢丝绳张力反馈信号滞后量,与传统的被动式钢丝绳张力调节装置相比,在高速和低速工况下,提出的钢丝绳张力主动控制方法均可以更有效地减小2根钢丝绳张力差,进一步保证提升系统的安全运行。

Wire rope tension active control of double-rope winding deep well hoisting systems

Aiming at the wire rope tension error of the double-rope winding deep well hoisting system,this paper presents an active control method of wire rope tension.Firstly,considering the nonlinearity of system,a wire rope tension active control model of double-rope winding deep well hoisting system is established with the analysis of the relationship between wire rope tension and floating hydraulic cylinder force loading.Secondly,due to the harsh environment of coal mine deep shaft hoisting,the wire rope tension feedback signal is collected by wireless device.Considering the transmission delay problem of wire rope tension feedback signal acquired by wireless,the wire rope tension control matrix model is built with feedback signal transmission delay.Then,the wire rope tension feedback signal transmission time delay compensation observer is designed,and the stability of the wire rope tension control model is proved while the time delay compensation observer is imported.Thirdly,considering the wire rope tension active control model is a strict feedback model that has output constraint problem,the wire rope tension active control method is designed by combining back stepping technology and barrier Lyapunov function.The stability of system with wire rope tension control method is proved.Finally,some experiments are carried out on a double rope winding deep well testing system with the proposed control algorithm.The experimental results show that the time delay compensation observer can effectively reduce the rope tension feedback signal delay caused by wireless transmission.Compared with the traditional passive wire rope tension adjustment device,the active wire rope tension control method can more effectively reduce the tension error of two wire ropes both in high and low speed conditions,which can further ensure the safe operation of the hoisting system.