US 11,691,846 B2 · Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system

Abstract

The present invention discloses a hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system. The method comprises the following steps of step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem; step 3, outputting a flatness characteristics of a nonlinear system; step 4, designing a pose leveling flatness controller of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; and step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem.

A hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system, comprising:

step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem;
step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem;
step 3, outputting flatness characteristics of a nonlinear system;
step 4, designing a flatness controller of the double-rope winding type ultra-deep vertical shaft hoisting subsystem based on the mathematical model;
step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem based on the position closed-loop mathematical model;
and
step 6, controlling a hoisting container based on the flatness controller, the position closed-loop flatness controller, and the flatness characteristics of the nonlinear system,
wherein the mathematical model of the double-rope winding type ultra-deep vertical shaft hoisting subsystem in step 1 is as follows:
M{umlaut over (q)}+C{dot over (q)}+Kq=F (1-1), wherein
in the formula, {umlaut over (q)},{dot over (q)} and q are respectively a generalized acceleration, speed and displacement, q=[xc,yc,θ], xc and yc are respectively a vertical displacement and a horizontal displacement of a gravity center of the hoisting container, θ is an anticlockwise rotation angle of the hoisting container, and M, C, K and F are respectively a mass matrix, a damping matrix, a stiffness matrix and a non-potential force of the hoisting subsystem wherein
M
=
[
m
c
+
1
3
⁢
ρ
⁢
l
h
⁢
1
+
1
3
⁢
ρ
⁢
l
h
⁢
2
0
-
1
3
⁢
ρ
⁢
l
h
⁢
1
⁢
a
1
+
1
3
⁢
ρ
⁢
l
h
⁢
2
⁢
a
2
0
m
c
0
-
1
3
⁢
ρ
⁢
l
h
⁢
1
⁢
a
1
+
1
3
⁢
ρ
⁢
l
h
⁢
2
⁢
a
2
0
I
c
-
1
3
⁢
ρ
⁢
l
h
⁢
1
⁢
a
1
2
+
1
3
⁢
ρ
⁢
l
h
⁢
2
⁢
a
2
2
]
,
C
=
[
c
h
⁢
1
+
1
3
⁢
ρ
⁢
l
.
h
⁢
1
+
c
h
⁢
2
+
1
3
⁢
ρ
⁢
l
.
h
⁢
2
0
-
(
c
h
⁢
1
+
1
3
⁢
ρ
⁢
l
.
h
⁢
1
)
⁢
a
1
+
(
c
h
⁢
2
+
1
3
⁢
ρ
⁢
l
.
h
⁢
2
)
⁢
a
2
0
c
s
⁢
1
+
c
s
⁢
2
+
c
s
⁢
3
+
c
s
⁢
4
-
c
s
⁢
1
⁢
b
1
+
c
s
⁢
2
⁢
b
2
-
c
s
⁢
3
⁢
b
1
+
c
s
⁢
4
⁢
b
2
-
(
c
h
⁢
1
+
1
3
⁢
ρ
⁢
l
.
h
⁢
1
)
⁢
a
1
+
(
c
h
⁢
2
+
1
3
⁢
ρ
⁢
l
.
h
⁢
2
)
⁢
a
2
-
c
s
⁢
1
⁢
b
1
+
c
s
⁢
2
⁢
b
2
-
c
s
⁢
3
⁢
b
1
+
c
s
⁢
4
⁢
b
2
(
c
h
⁢
1
+
1
3
⁢
ρ
⁢
l
.
h
⁢
1
)
⁢
a
1
2
+
(
c
h
⁢
2
+
1
3
⁢
ρ
⁢
l
.
h
⁢
2
)
⁢
a
2
2
+
b
1
2
⁢
c
s
⁢
1
+
b
2
2
⁢
c
s
⁢
2
+
b
1
2
⁢
c
s
⁢
3
+
b
2
2
⁢
c
s
⁢
4
]
,
K
=
[
k
h
⁢
1
+
k
h
⁢
2
0
-
k
h
⁢
1
⁢
a
1
+
k
h
⁢
2
⁢
a
2
0
k
s
⁢
1
+
k
s
⁢
2
+
k
s
⁢
3
+
k
s
⁢
4
-
k
s
⁢
1
⁢
b
1
+
k
s
⁢
2
⁢
b
2
-
k
s
⁢
3
⁢
b
1
+
k
s
⁢
4
⁢
b
2
-
k
h
⁢
1
⁢
a
1
+
k
h
⁢
2
⁢
a
2
-
k
s
⁢
1
⁢
b
1
+
k
s
⁢
2
⁢
b
2
-
k
s
⁢
3
⁢
b
1
+
k
s
⁢
4
⁢
b
2
k
h
⁢
1
⁢
a
1
2
+
k
h
⁢
2
⁢
a
2
2
+
b
1
2
⁢
k
s
⁢
1
+
b
2
2
⁢
k
s
⁢
2
+
b
1
2
⁢
k
s
⁢
3
+
b
2
2
⁢
k
s
⁢
4
]
,
and
⁢
F
=
[
-
1
6
⁢
ρ
⁢
l
h
⁢
1
[
l
¨
r
⁢
1
+
u
¨
1
(
1
+
sin
⁢
φ
1
)
]
-
1
6
⁢
ρ
⁢
l
h
⁢
2
[
l
¨
r
⁢
2
+
u
¨
2
(
1
+
sin
⁢
φ
2
)
]
+
(
-
1
6
⁢
ρ
⁢
l
.
h
⁢
1
+
c
h
⁢
1
)
[
l
.
r
⁢
1
+
u
.
1
(
1
+
sin
⁢
φ
1
)
]
+
(
-
1
6
⁢
ρ
⁢
l
.
h
⁢
2
+
c
h
⁢
2
)
[
l
.
r
⁢
2
+
u
.
2
(
1
+
sin
⁢
φ
2
)
]
+
k
h
⁢
1
[
l
r
⁢
1
+
u
1
(
l
+
sin
⁢
φ
1
)
]
+
k
h
⁢
2
[
l
r
⁢
2
+
u
2
(
1
+
sin
⁢
φ
2
)
]
-
m
c
⁢
g
-
1
2
⁢
ρ
⁢
gl
h
⁢
1
-
1
2
⁢
ρ
⁢
gl
h
⁢
2
0
1
6
⁢
ρ
⁢
l
h
⁢
1
⁢
a
1
[
l
¨
r
⁢
1
+
u
¨
1
(
1
+
sin
⁢
φ
1
)
]
-
1
6
⁢
ρ
⁢
l
h
⁢
2
⁢
a
2
[
l
¨
r
⁢
2
+
u
¨
2
(
1
+
sin
⁢
φ
2
)
]
+
(
-
1
6
⁢
ρ
⁢
l
.
h
⁢
1
+
c
h
⁢
1
)
⁢
a
1
[
l
.
r
⁢
1
+
u
.
1
(
1
+
sin
⁢
φ
1
)
]
-
(
-
1
6
⁢
ρ
⁢
l
.
h
⁢
2
+
c
h
⁢
2
)
⁢
a
2
[
l
.
r
⁢
2
+
u
.
2
(
1
+
sin
⁢
φ
2
)
]
+
k
h
⁢
1
⁢
a
1
[
l
r
⁢
1
+
u
1
(
l
+
sin
⁢
φ
1
)
]
-
k
h
⁢
2
⁢
a
2
[
l
r
⁢
2
+
u
2
(
1
+
sin
⁢
φ
2
)
]
+
1
2
⁢
ρ
⁢
gl
h
⁢
1
⁢
a
1
-
1
2
⁢
ρ
⁢
gl
h
⁢
2
⁢
a
2
]
.
wherein mc is a mass of the hoisting container, p is unit mass of a steel wire rope,
l1 and l2 are respectively a winding length of a duplex winding drum, lc1 and lc2 are respectively a length of two string ropes in a process of hoisting or descending a hoisting container, lh1 and lh2 are respectively a length of two vertical section steel wire ropes in the process of hoisting or descending the hoisting container, u1 and u2 are respectively displacement of two floating hoisting sheaves, φ1 and φ2 are respectively an included angle between the two string ropes and a horizontal plane, a1 and a2 are respectively a horizontal distance between a connecting point of the two vertical section steel wire ropes on the hoisting container and a gravity center of the hoisting container, b1 and b2 are respectively a vertical distance between upper and lower surfaces of the hoisting container and the gravity center of the hoisting container, kh1 and kh2 are respectively the stiffness of the vertical section steel wire ropes, ch1 and ch2 are respectively damping coefficients of the vertical section steel wire ropes, g is a gravitational acceleration,
ks1, ks2, ks3, and ks4 are respectively a transverse equivalent stiffness of four pairs of spring-damping models, cs1, cs2, cs3, and cs4 are respectively a transverse equivalent damping coefficient of the four pairs of the spring-damping models, Ir1 and Ir2 are respectively a winding length of a duplex winding drum.

1,025 more elements

Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system

Life of this patent

Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system

Life of this patent

Abstract

Claims9