Conveyance leveling control strategy of double-rope winding deep well hoisting systems

In order to solve the tilt problem of conveyance during the operation of double rope winding deep mine hoisting system with flexible cage guide,a conveyance leveling control strategy is proposed.Firstly,the components and their geometrical relationship are analyzed.Considering the nonlinear problem of hoisting system and floating head sheave hydraulic system,the control model of conveyance leveling of a double-rope winding deep mine hoisting system is established.Secondly,due to the harsh environment of coal mine deep shaft hoisting,the wire rope tension feedback signal is collected by wireless device.Considering the uncertain time delay while the control signal transmitting in the wire rope,the time delay matrix models of conveyance levelling control is established and control signal time delay observer is designed.The stability of double-rope winding deep mine hoisting system with time delay observer is proved.Then,a sliding mode controller is designed to realize the conveyance leveling control.Considering that the differential signal of conveyance tilt angle is needed in the controller design process,a high gain observer is employed to provide a smooth differential signal of angle for the sliding mode controller,then the control performance is improved.Finally,the proposed control method is verified by using an experimental system of double-rope winding deep mine hoisting.The experimental results show that compared with the PI controller,the back-stepping controller and proposed controller have a higher response speed.Due to the added time delay compensation observer and high-gain observer,the proposed controller can reduce the peak and average conveyance leveling,which can ensure the safe operation of double-rope winding deep mine hoisting systems.