基于钢丝绳张紧轮的矿井摩擦提升系统纵向振动主动控制  

Active control for longitudinal vibration of friction hoist system based on tension wheel

作　　者：宋延廷 宋字宇 郝惠敏 王鹤 黄家海 SONG Yanting;SONG Ziyu;HAO Huimin;WANG He;HUANG Jiahai(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《煤炭学报》2023年第6期2590-2598,共9页Journal of China Coal Society

基　　金：国家自然科学基金资助项目(51775362)。

摘　　要：针对落地式摩擦提升机运行过程中产生的纵向振动问题,提出了基于液压张紧轮的纵向振动主动控制方案,该方案将液压张紧轮水平布置在上天轮下方,使得张紧轮输出力垂直于提升钢丝绳,通过控制液压缸输出力改变张紧轮位置以调整钢丝绳张力和系统虚功,从而抵消系统冲击能量,继而减弱系统纵向冲击与振动,使系统快速趋于稳定,并通过增设固定张紧轮调整输出力带来的钢丝绳水平偏移。基于广义Hamilton原理建立了含液压张紧轮的摩擦式矿井提升系统分布式参数模型,依据李雅普诺夫第二稳定性原理设计了一类状态控制器,并通过试验验证了无控制状态下系统分布式参数模型的准确性。以下放工况为例在MATLAB中进行了控制仿真,结果表明基于液压张紧轮的纵向主动控制方案是可行的,且具有良好的减振效果,尤其对于停车制动后的纵向振动抑制效果非常突出;状态控制可将停车阶段产生的最大振动加速度从原始系统的2.59 m/s^(2)降低至1.6 m/s^(2),减幅达到38.22%,收敛至稳定仅耗时0.9 s;作为对比设计的PD控制仅仅将停车阶段的最大纵向振动加速度减小至2.3 m/s^(2),衰减幅度为11.20%,收敛至稳定耗时2.2 s。相较于传统浮动天轮主动控制方案,液压张紧轮减少了执行器高输出负载比。Aiming at the longitudinal vibration problem during the operation of the ground mounted friction hoist,an active control scheme of longitudinal vibration based on the hydraulic tensioning wheel was proposed.The tension force and virtual work was adjusted by controlling the output force of the tensioning wheel,thereby offsetting impact energy,reducing the longitudinal impact and vibration of the system,and making it be quickly stabilized.The horizontal offset of wire-rope caused by output force was adjusted by adding fixed tensioning wheel.Based on the generalized Hamilton principle,a distributed parameter model of the mine hoist system with hydraulic tensioning wheel was established,and the state controller was designed according to the Lyapunov’s second stability principle,and the accuracy of the distributed parameter model in the uncontrolled state was verified by experiments.The lowering condition are taken as an example to simulate in the MATLAB, and the results show that the longitudinal active control scheme based on the hydraulic tensioning wheel is feasible and has a good vibration reduction effect, especially on the longitudinal vibration suppression after parking brake. The state control can reduce the maximum vibration acceleration generated in the parking phase from 2.59 m/s^(2) of the ori-ginal system to 1.6 m/s^(2), the reduction rate reaches 38.22%, and it only takes 0.9 s to converge to stability. The PD control reduces the maximum longitudinal vibration acceleration to 2.3 m/s^(2) in the parking phase, the attenuation amplitude is 11.20%, and the convergence to stability takes 2.2 s. Compared with the traditional active control scheme of floating wheel, the hydraulic tensioning wheel reduces the high output load ratio of actuator.

关 键 词：摩擦提升机 广义Hamilton原理 李雅普诺夫函数 纵向振动抑制 

分 类 号：TH113.1[机械工程—机械设计及理论]