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

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/s² of the original system to 1.6 m/s², 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/s² 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.