Journal of South China University of Technology(Natural Science) >

2024 , Vol. 52 >Issue 3: 141 - 150

DOI: https://doi.org/10.12141/j.issn.1000-565X.230167

Electronics, Communication & Automation Technology

Braking Transient Impact Suppression Strategy for Single Rope Winding Mine Hoist

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  • 1.School of Mechanical and Electrical Engineering，China University of Mining and Technology，Xuzhou 221000，Jiangsu，China
    2.School of Mechanical and Electrical Engineering，Anhui University of Technology，Huainan 232000，Anhui，China
    3.713th Research Institute of China Shipbuilding Industry Group Co. ，Ltd，Zhengzhou 450015，Henan，China
解辉（1995-），男，博士生，主要从事矿井提升机制动控制技术研究。E-mail： hui13685131204@163.com

Received date: 2023-03-30

  Online published: 2023-06-20

Supported by

the National Natural Science Foundation of China(U21A20125，52175068，51805532)

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Abstract

In the braking control for mine hoists, braking transient impact is a key issue affecting the operational safety and reliability of mine hoists. Currently, due to the constraints of technology and economic costs, the braking process, including shoe-approaching and braking control, adopts force closed-loop control mode, which inevitably leads to the transient impact of braking pressure when the brake shoe is in rigid contact with the brake disc. Aiming at the problem of transient braking impact for mine hoists, this paper designed a hybrid shoe-approaching and braking control strategy by using the hysteretic-relay-based switching principle. Firstly, the non-singular fast terminal sliding mode control and backstepping control were adopted to design the controller for the shoe-approaching and braking system, respectively. Secondly, in order to achieve the purpose of fast shoe-approaching, it developed an online shoe-approaching trajectory re-planning method based on discrete integrator, which effectively reduces the shoe-approaching time of the system. Then, by using of the hysteretic switching principle, it developed an autonomous switching strategy from shoe-approaching control to braking control, which greatly reduces the transient impact of braking pressure. Finally, to verify the effectiveness of the proposed method, the traditional full-stroke pressure closed-loop control strategy C1 and hybrid shoe-approaching/pressure control strategy with direct switching C2 were selected as comparison methods, and comparative experiments were conducted on a single-rope winding hoisting test bench. The experimental results were analyzed from three aspects: braking time, maximum tracking error of braking force, and maximum tension of hoisting wire rope. The experimental results indicate that, compared with the C1 control strategy, the proposed braking control strategy reduces the braking time by 64.5% and the peak tension of the wire rope by 41 N. Compared with the C2 control strategy, the proposed braking control strategy reduces the braking force impact by 90.3% and the peak tension of the wire rope by 88 N. These results demonstrate that the proposed approach effectively improves the transient impact of braking, reduces shoe-approaching time, and improves the safety of the braking system. This study also provides an effective solution for a class of electro-hydraulic servo systems that require mixed force/position control.

Key words： mine hoist braking system; transient impact; nonlinear control; mixed force/position control; constrained trajectory planning

Cite this article

XIE Hui, SHEN Gang, LIU Dong, et al . Braking Transient Impact Suppression Strategy for Single Rope Winding Mine Hoist[J]. Journal of South China University of Technology(Natural Science), 2024 , 52(3) : 141 -150 . DOI: 10.12141/j.issn.1000-565X.230167

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