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 pres- ents 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 relation- ship 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 con- trol 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 ten- sion error of two wire ropes both in high and low speed conditions,which can further ensure the safe operation of the hoisting system.