Abstract
When the double-rope winding hoisting system (DWHS) is in operation, tensions of two wire ropes of the DWHS will not be symmetrical because of some factors such as different manufacturing deviation between the twin winding drum and two wire ropes, different winding groove depths, the winding asynchronism of two wire ropes, and elastic modulus difference of two wire ropes and so on. Therefore, an electro-hydraulic servo system (EHSS) is employed to actively control two wire ropes tensions to guarantee operation security of the DWHS. Dynamic models of the hoisting system and the EHSS are introduced, of which dynamic model of the DWHS is expressed with state representation. The flatness-based controller (FBC) is designed for the hoisting system. A disturbance observer is utilized to deal with the external disturbance and unmodeled characteristics of the EHSS. Hence, a disturbance observer based integral backstepping controller (DO-BIBC) is designed for the EHSS. The stability of the overall control system is proved by de-fining an overall Lyapunov function. To investigate the property of the proposed controller, an experimental setup of the DWHS is established. As well, comparative experimental results indicate that the proposed controller exhibits a better performance on leveling control of the conveyance and tension coordination control on the two wire ropes than a conventional PI controller.
Highlights
Blair hoists are proposed to realize the ultra-deep hoisting and have been employed in South Africa [1,2]
During the operation of the double-rope winding hoisting system (DWHS), some inevitable factors like different manufacturing deviation between the twin winding drum, the winding asynchronism of two wire ropes, difference in lengths between two wire ropes, different depths of winding grooves and elastic modulus difference of two wire ropes will result in different terminal displacements of two wire ropes
In this paper, we propose a hybrid controller combining the flatness-based controller (FBC) and a disturbance observer based integral backstepping controller (DOBIBC) to balance the two wire rope tensions efficiently to guarantee the safety of the DWHS
Summary
Blair hoists are proposed to realize the ultra-deep hoisting and have been employed in South Africa [1,2]. Based on the state representation of the DWHS, many controllers like sliding mode controllers [1,8,9,10,11], robust controllers [12,13,14,15], adaptive controllers [16,17], iterative leaning controllers [18] are designed to coordinate the tension difference. The observer can be employed to compensate the stochastic disturbance in the backstepping controller design. In this paper, we propose a hybrid controller combining the FBC and a disturbance observer based integral backstepping controller (DOBIBC) to balance the two wire rope tensions efficiently to guarantee the safety of the DWHS. The hybrid controller can compensate disturbances including the constant disturbance and the stochastic disturbance of the DWHS and the unmodeled characteristics of the EHSS to reduce its tension difference.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
