Method for the collaborative control of a multi-channel
braking system of a mining hoist, wherein the control method is based on the multi-channel
braking system, the multi-channel
braking system comprises eight channels, a
disc brake (3) is arranged on each of the channels, and eight disc brakes (3) are symmetrically distributed on both sides of a
brake disc (2), wherein each of the disc brakes (3) is controlled by an independent
proportional control valve (4), and an
oil pressure sensor (5) and a displacement sensor (6) are arranged on each of the disc brakes (3), and the control method comprises the following steps: Step S1, respective measurement, using the displacement sensor (6), an initial position information x is0 and x iy0 a
brake shoe and an initial thickness Δ i0 the
brake shoe in a case in which each of the disc brakes (3) is fully released or compressed, where i denotes an i-th
disc brake (3); Step S2, recording, using the displacement sensor (6), a position x is the
brake shoe with the
disc brake fully released (3) before a brake command is issued, and a position x iy the
brake shoe with the disc brake fully compressed (3) after the braking command has been issued when a conveying
system is put into operation in practice; Step S3, calculating an abrasion loss Δ i the
brake shoe and a total abrasion loss Δ sum = ∑ i = 1 n Δ i of the brake shoe in the brake
system according to the measured position information of the disc brake (3), where n denotes a number of disc brakes (3) and an average
wear loss of the brake shoe is defined as Δ avg = ∑ i = 1 n Δ i / n This refers to calculating a percentage share λ. avgof the average
wear loss of the brake shoe in relation to the total
wear loss of the brake shoe according to the physical quantities, wherein a calculation formula for the percentage share λ avg is: λ avg = Δ avg Δ sum = 1 n , Step S4, Calculating a percentage λ i of an abrasion loss of the
brake pad of the i-th disc brake (3) in relation to the total abrasion loss and an abrasion
loss rate η i the brake shoe of the i-th disc brake (3), wherein the calculation formulas for the percentage λ i and the wear
loss rate η i ring: λ i = Δ i Δ sum = ( xiy − xis ) − ( xiy 0 − xis 0 ) ∑ i = 1 n Δ i , η i = Δ i Δ i 0 ; Step S5,
Subdivision of a wear loss degree of the
brake pad of the disc brakes (3) by comparison of λ i with λ avgin three abrasion loss levels; classification in the case of λ i ≤ k1λ avg , as abrasion loss level I, classification in the case of k1λ avg < λ i ≤ k2λ avg , as abrasion loss
level II and classification in the case of λ i > k2λ avg , as abrasion loss stage III; application of three different distribution agents to a required total braking force F ref corresponding to the different wear loss levels of the brake shoe of the disc brakes (3), where k1 and k2 each denote coefficients for subdividing the wear loss level of the brake shoes; Step S6, with a total braking force F sum , which follows a principle of equal distribution, setting a braking force distribution value F i the disc brakes (3) as F i = F sumn in a case where the wear loss level of the brake shoe of the disc brakes (3) is wear loss level I; Step S7, with a total braking force F sum , which follows a proportional distribution principle, determining the braking force distribution value F i the disc brakes (3) as F i = F sum ⋅ Δ i 0 − Δ i ∑ i = 1 n ( Δ i 0 − Δ i ) in a case where the wear loss level of the brake shoe of the disc brakes (3) is wear loss
level II; Step S8, with a total braking force F sum , which follows an index distribution principle, determining the
brake force distribution value F i the disc brakes (3) as F i = F sum ⋅ e ( Δ i 0 − Δ i ) ∑ ine ( Δ i 0 − Δ i ) in a case where the wear loss level of the brake shoe of the disc brakes (3) is wear loss level III; Step S9, Implementing a closed tracking control of the disc brake (3) for the
brake force distribution value F controlled by a proportional directional control valve (4). iusing a pressure
signal feedback from the
oil pressure sensor (5) arranged on an oil inlet chamber of the disc brake (3), after a distribution of
brake pressure for the disc brake (3) has been completed; and Step S10, completing a braking task, implementing a dynamic distribution of the braking force and repeating steps S1 to S9 in a case where a subsequent braking operation is required.