Abstract
A double-rope winding hoisting system (DRWHS) is usually employed to transport weight or workers in mines usually from ultra-deep underground (>1000m). An electro-hydraulic servo system (EHSS), which consists of two hydraulic cylinders, two movable headgear sheaves and lots of indispensable sensors, is employed to actively coordinate two wire tensions. The nonlinear dynamic model of the DRWHS is introduced and it is divided into two subsystems, i.e., the hoisting system and the EHSS with state space representations. However, as a complex machine-electricity-hydraulic system, the accurate dynamic model of the DRWHS is usually hard to obtain. Therefore, a flatness-based controller (FBC), which is insensitive to unmodeled characteristics of the dynamic model and measurement noises of sensors, is proposed to improve the tension coordination of two wire tensions of the DRWHS. The explicit FBC design schemes for the DRWHS and the control law are presented, and the stability of the proposed controller are proved by defining a Lyapunov function. The controller proposed is characterized by no derivatives of state variables and lower controller design complication so that measurement noises of sensors and unmodeled characteristics are not amplified. An experimental bench of the DRWHS is established to verify the performance of the proposed controller. Experimental results show that the proposed controller exhibits a better performance on the tension coordination control of two wire ropes compared with a backstepping controller (BC) and a conventional proportional-integral (PI) controller.
Highlights
A mine hoisting system, which is usually utilized to transport weight or workers from underground, is the throat of a mine
The double-rope winding hoisting system (DRWHS) is a typical complex machine-electricityhydraulic system, which indicates that its accurate dynamic model is usually hard to obtain
In order to improve the coordination of tensions of two wire ropes of the DRWHS, a flatness-based controller (FBC), which is insensitive to measurement noises of sensors and unmodeled characteristics, is employed to actively coordinate tensions of two wire ropes
Summary
A mine hoisting system, which is usually utilized to transport weight or workers from underground, is the throat of a mine. The repeated derivation of virtual control in each step of controllers’ design will definitely amplify measurement noises of sensors and unmodeled characteristics of the DRWHS, which will decrease the tension coordination. In order to simplify controllers’ design and improve the tension coordination, a FBC, which is insensitive to unmodeled characteristics and measurement noises of sensors, is proposed to improve the tension coordination of two wire ropes in the DRWHS. The main contribution of the paper is to present an easy to design and efficient FBC for the complex machine-electricity-hydraulic DRWHS to improve the tension coordination of two wire ropes and its verification on the experimental bench of the DRWHS.
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