Axial vibration suppression of wire-ropes and container in double-rope mining hoists with adaptive robust boundary control

Abstract

Under the high-speed and heavy-load operating conditions of the mine hoist, due to its own elastic deformation and unknown interference from the outside world, the wire rope will produce large undesired vibrations, which greatly affects the service life of the wire rope and the comfort of the passengers. Aiming at this problem, taking the double-rope winding hoist as the research object, the Hamilton principle is applied to establish the distributed parameter dynamic model of the system. Considering the uncertainty of system modeling, a parameter adaptive law is designed to fit unknown parameters. On this basis, an adaptive robust boundary controller for suppressing longitudinal vibration of steel wire rope is proposed. The stability of the designed controller is proved by Lyapunov theory, and the experimental verification is carried out on the experimental platform of double-rope winding hoist. The results show that the designed boundary controller can effectively suppress the longitudinal vibration of the lifting rope and the container.