基于LQR算法的矿井提升系统纵向振动抑制  

Longitudinal Vibration Suppression in Mine Hoisting Systems Based on LQR Algorithm

作　　者：力文新 黄曦 宋字宇 宋延廷 杨哲明 黄家海 LI Wenxin;HUANG Xi;SONG Ziyu;SONG Yanting;YANG Zeming;HUANG Jiahai(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan,Shanxi 030024;College of Civilengineering,Taiyuan University of Technology,Taiyuan,Shanxi 030024;School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui 232001)

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 [2]太原理工大学土木工程学院,山西太原030024 [3]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《液压与气动》2024年第8期11-17,共7页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51775362)。

摘　　要：针对矿井提升系统钢丝绳弹性特性以及外部扰动导致的系统纵向振动,设计基于精确模型的线性二次型调节器抑制振动。基于广义Hamilton原理,建立扰动激励下摩擦提升系统纵向振动方程,并利用实验数据对模型正确性进行验证,为线性二次型调节器设计奠定了基础。仿真表明,线性二次型调节器控制算法对于外部扰动引起的系统振动有很好抑制效果,且对于驻车制动引起的振动也可以快速衰减,振动加速度减少了59.87%,收敛仅需1.37 s。为提升系统的振动控制提供了可行且有效的理论基础,为相关工程实践提供了有力的支持。In response to the elastic characteristics of steel wire ropes and the longitudinal vibration caused by external disturbances in mine hoisting systems,a linear quadratic regulator controller is designed for a vibration suppression device based on an accurate model.The longitudinal vibration equation of the friction hoisting system under perturbation excitation is established using the generalized Hamilton principle.Experimental data is utilized to validate the correctness of the model,laying the foundation for the design of the linear quadratic regulator controller.Simulation results indicate that the linear quadratic regulator control algorithm effectively suppresses vibrations caused by external disturbances and rapidly attenuates vibrations induced by parking brakes,reducing the vibration acceleration by 59.87%.Convergence is achieved in just 1.37 seconds.This research provides a feasible and effective theoretical basis for vibration control in hoisting systems,offering strong support for relevant engineering practices.

关 键 词：线性二次型调节器控制 摩擦提升系统 振动频率 HAMILTON原理 时变钢丝绳 

分 类 号：TH137[机械工程—机械制造及自动化] TD534[矿业工程—矿山机电] TH113