摩擦式提升机钢丝绳鲁棒纵向振动抑制

矿井提升机在高速重载的运行工况下，由于钢丝绳自身误差以及外界干扰会产生钢丝绳的振动，很大程度上影响钢丝绳的使用寿命和乘坐人员的舒适性。针对此问题，以摩擦式提升机为研究对象，应用Hamilton原理建立系统的动力学模型，采用自适应鲁棒理论设计了提升钢丝绳纵向振动抑制边界控制策略，并以Lyapunov理论证明了所设计控制器的稳定性。仿真结果表明，所设计的自适应鲁棒控制器能有效地补偿钢丝绳弹性形变引起的振动位移偏移，同时获得了比传统比例-积分-微分（proportion integration differentiation，简称PID）算法更快速的振动抑制收敛速度。

Robust Longitudinal Vibration Suppression of Steel Wire Rope of Friction Hoist

Under high-speed and heavy-load operating conditions, the vibration of wire rope inevitably occurs due to the error of the wire rope itself and external interference, which greatly affect the service life of the wire rope and the comfort of passengers. In this paper, a friction hoist is taken as the research object, Hamilton principle is used to establish the dynamic model of the system, and adaptive robust theory is used to design the boundary control strategy of the longitudinal vibration suppression of the hoisting wire rope, and Lyapunov theory is used to prove the stability of designed controller. The simulation results show that the designed adaptive robust controller can effectively compensate the vibration displacement shift caused by the elastic deformation of the wire rope, and obtain a faster convergence rate of vibration suppression than traditional proportion integration differentiation (PID) algorithm.