Double-Rope Hoisting Container Pose Control for Rope Tension Sync
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Solution Overview
Problem
Ultra-deep vertical shaft hoisting systems face challenges with rigid cage guides due to deformation and instability, and flexible guides suffer from asynchronism and tension inconsistencies in steel wire ropes, leading to potential rope fractures and accidents, while existing control methods are complex and prone to tracking errors.
Innovation Solution
A hoisting container pose control method for a double-rope winding type ultra-deep vertical shaft hoisting system is developed, involving building a mathematical model, designing a flatness controller, and implementing a position closed-loop control system to simplify the design process and improve response times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid cage guide is used for ultra-deep vertical shaft hoisting, then the structural strength is improved, but the system generates deformation and instability under high-speed heavy-load operation
Solution Approach 1:
The patent transitions from a rigid static cage guide structure to a dynamic active control system. The hoisting container is equipped with pose control mechanisms that actively adjust and maintain stability during operation, allowing the system to adapt to varying loads and speeds while preventing deformation and instability issues that plague rigid static structures.
Solution Approach 2:
The patent implements active regulation of the hoisting container's operational parameters (position, orientation, tension) through control systems. By dynamically changing these parameters in real-time based on feedback, the system maintains optimal performance and stability under high-speed heavy-load conditions without the deformation problems associated with rigid cage guides.
2Adaptability or versatility
If a flexible cage guide is used for ultra-deep vertical shaft hoisting, then the adaptability to high-speed operation is improved, but asynchronism of steel wire ropes causes tension inconsistency and potential rope fracture
Solution Approach 1:
The patent employs feedback control mechanisms that continuously monitor the position, orientation, and tension of the steel wire ropes. This real-time feedback enables the control system to detect and correct asynchronism between ropes, maintaining consistent tension and preventing the rope fracture accidents that occur with flexible guides lacking active regulation.
Solution Approach 2:
The patent introduces an intermediary control system between the flexible cage guide and the steel wire ropes. This control system acts as a mediator that coordinates the movement and tension of multiple ropes, ensuring synchronous operation and preventing the tension inconsistencies that lead to rope failure in uncontrolled flexible guide systems.
3Ease of operation
If backstepping controller design method is used, then the control capability is improved, but the design process becomes complicated and tracking errors increase due to noise amplification
Solution Approach 1:
The patent adopts a simplified controller design that sacrifices some of the complexity of advanced methods like backstepping in exchange for reduced noise amplification and simpler implementation. The control algorithm is designed to be computationally efficient and less sensitive to measurement noise, achieving acceptable control performance without the complicated derivation processes and noise amplification issues of more sophisticated methods.
4Reliability
If backstepping controller design method is used, then the control theory foundation is improved, but the leveling response time becomes longer due to noise amplification
Solution Approach 1:
The patent optimizes the control algorithm parameters to reduce sensitivity to measurement noise and improve response speed. By carefully selecting and tuning control parameters, the system achieves fast leveling response without the noise amplification and time delays associated with backstepping controller derivation, balancing theoretical rigor with practical performance requirements.
Data Source
AI summary
The present invention discloses a hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system. The method comprises the following steps of step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem; step 3, outputting a flatness characteristics of a nonlinear system; step 4, designing a pose leveling flatness controller of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; and step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem.