Method for collaboratively controlling multi-channel braking system of mine hoist

A method for collaboratively controlling a multi-channel braking system of a mine hoist, wherein the control method is based on the multi-channel braking system, the multi-channel braking system comprises a plurality of disc brakes, each of the disc brakes is controlled by an independent proportional control valve, and an oil pressure sensor and a displacement sensor are arranged on each of the disc brakes, and the control method includes following steps:

• Step S1, respectively measuring, by utilizing the displacement sensor, initial position information xis0 and xiy0 of a brake shoe as well as an initial thickness Δi0 of the brake shoe in a case where each of the disc brakes is completely released and compressed, where i denotes an i_th disc brake;
• Step S2, recording, by utilizing the displacement sensor, a position xis of the brake shoe when the disc brake is completely released before a braking command is issued, and a position xiy of the brake shoe when the disc brake is fully compressed after the braking command is issued, in a case where a hoist system is officially put into use;
• Step S3, calculating, according to the measured position information of the disc brake, an abrasion loss Δi of the brake shoe, and a total abrasion loss Δsum=Σi=1nΔi of the brake shoe in the braking system, where n denotes a number of the disc brakes and an average abrasion loss of the brake shoe is denoted as Δavg=Σi=1nΔi/n, calculating, according to the physical quantities, a percentage λavg of the average abrasion loss of the brake shoe relative to the total abrasion loss of the brake shoe, and a calculation formula of the percentage λavg being:
• λ
• avg
• =
• Δ
• avg
• Δ
• sum
• =
• 1
• n
• ,
• Step S4, calculating a percentage λi of an abrasion loss of the brake shoe of the i_th disc brake relative to the total abrasion loss, and an abrasion loss rate ηi of the brake shoe of the i_th disc brake, and calculation formulas of the percentage λi and the abrasion loss rate ηi being:
• λ
• i
• =
• Δ
• i
• Δ
• sum
• =
• (
• x
• iy
• -
• x
• is
• )
• -
• (
• x
• iy
• ⁢
• 0
• -
• x
• is
• ⁢
• 0
• )
• ∑
• i
• =
• 1
• n
• ⁢
• Δ
• i
• ,
• η
• i
• =
• Δ
• i
• Δ
• i
• ⁢
• 0
• ;
• Step S5, dividing, by comparing λi with λavg, an abrasion loss degree of the brake shoe of the disc brakes into three abrasion loss levels;
• classifying, in a case of λi≤k1λavg, as an abrasion loss level I, classifying, in a case of k1λavg<λi≤k2λavg, as an abrasion loss level II, and classifying, in a case of λi>k2λavg, as an abrasion loss level III;
• according to different abrasion loss levels of the brake shoe of the disc brakes, three different distributing means are executed on a total required braking force Fref, where k1 and k2 denote coefficients for dividing the abrasion loss level of the brake shoes respectively;
• Step S6, a total braking force Fsum obeying an equal distribution principle, setting a braking force distribution value Fi of the disc brakes as
• F
• i
• =
• F
• sum
• n
• ,
• in a case where the abrasion loss level of the brake shoe of the disc brakes is the abrasion loss level I;
• Step S7, the total braking force Fsum obeying a proportional distribution principle, setting the braking force distribution value Fi of the disc brakes as
• F
• i
• =
• F
• sum
• ·
• Δ
• i
• ⁢
• 0
• -
• Δ
• i
• ∑
• i
• =
• 1
• n
• ⁢
• (
• Δ
• i
• ⁢
• 0
• -
• Δ
• i
• )
• ,
• in a case where the abrasion loss level of the brake shoe of the disc brakes is the abrasion loss level II;
• Step S8, the total braking force Fsum obeying an index distribution principle, and setting the braking force distribution value Fi of the disc brakes as
• F
• i
• =
• F
• sum
• ·
• e
• (
• Δ
• i
• ⁢
• 0
• -
• Δ
• i
• )
• ∑
• i
• n
• ⁢
• e
• (
• Δ
• i
• ⁢
• 0
• -
• Δ
• i
• )
• ,
• in a case where the abrasion loss level of the brake shoe of the disc brakes is the abrasion loss level III;
• Step S9, by utilizing a pressure signal feedback from the oil pressure sensor arranged on an oil inlet chamber of the disc brake, a closed-loop tracking control of the disc brake for the braking force distribution value Fi driven by a proportional directional valve is implemented, after completing a distribution of a braking pressure for the disc brake;
• and
• Step S10, completing a braking task, a dynamic distribution of the braking force is implemented, and repeating Step S1 to Step S9 in a case of requiring a subsequent braking operation.