US 11,691,846 B2
Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system
Gang Shen, Jiangsu (CN); Zhencai Zhu, Jiangsu (CN); Xiang Li, Jiangsu (CN); Yu Tang, Jiangsu (CN); Guohua Cao, Jiangsu (CN); Gongbo Zhou, Jiangsu (CN); Songyong Liu, Jiangsu (CN); Yuxing Peng, Jiangsu (CN); and Hao Lu, Jiangsu (CN)
Assigned to China University of Mining and Technology, Jiangsu (CN)
Appl. No. 16/772,162
Filed by China University of Mining and Technology, Jiangsu (CN)
PCT Filed Sep. 12, 2019, PCT No. PCT/CN2019/105589
§ 371(c)(1), (2) Date Jun. 12, 2020,
PCT Pub. No. WO2020/206931, PCT Pub. Date Oct. 15, 2020.
Claims priority of application No. 201910284619.2 (CN), filed on Apr. 10, 2019.
Prior Publication US 2021/0070586 A1, Mar. 11, 2021
Int. Cl. B66B 1/28 (2006.01); G06F 30/23 (2020.01); B66B 19/00 (2006.01); F15B 15/00 (2006.01); G05B 13/04 (2006.01); G06F 111/10 (2020.01)
CPC B66B 1/28 (2013.01) [B66B 19/00 (2013.01); F15B 15/00 (2013.01); G05B 13/042 (2013.01); G06F 30/23 (2020.01); G06F 2111/10 (2020.01)] 9 Claims
OG exemplary drawing
 
1. 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:
Mq+Cq+Kq=F  (1-1), wherein
in the formula, q,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

OG Complex Work Unit Math
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.