煤矿深井大吨位提升容器高速安全运行电液智能调控方法

The hoisting conveyance is a key equipment for coal and personnel transportation in coal mine wells. This project, which is around the malignant accidents due to the uncontrolled high-speed operation of the large tonnage hoisting conveyance or broken of wire ropes, intends to carry out research on electro-hydraulic intelligent control methods for safety operation of the large tonnage hoisting conveyance with high-speed, and solve fundamental scientific problems on terminal tension time-varying delay characteristics of wire ropes and active fault-tolerant control under uncontrolled working condition. After the dynamic characteristics of the hoisting conveyance with high-speed and the operation state dynamic coupling relation of wire ropes, electro-hydraulic brakes group, and hydraulic driving movable headgear sheaves are illuminated, this project will master a real-time transmission method of terminal tensions of wire ropes utilized to hoist the conveyance with a strong electro-magnetic interference in deep wells, and will also reveal time-varying delay characteristics of tension transmission under high-speed operation in deep wells. If this project can be developed well, it is helpful to study tension coordination control methods of wire ropes active regulated by hydraulic cylinders, propose a tension active fault-tolerant control strategy of wire ropes under uncontrolled working condition, solve stationarity problem of the large tonnage hoisting conveyance with emergency braking during high-speed operation, and develop the real-time condition monitoring, coordination control, fault-tolerant control under uncontrolled working condition and emergency braking under wire rope broken accident for the large tonnage hoisting conveyance in deep mine wells . The research achievements of this project have important significance for improving safety of deep mine wells.

提升容器是煤矿井下输送煤炭和人员的关键装备。本项目针对煤矿深井大吨位提升容器高速运行易发生失控、断绳等重大恶性事故，开展大吨位提升容器高速安全运行电液智能调控方法研究，解决煤矿深井提升容器高速运行时钢丝绳末端张力时变延时特性以及失控工况下张力主动容错控制的关键科学问题。阐明大吨位提升容器高速运行时的动力学特性与多钢丝绳、电液制动器群及多液压缸驱动浮动天轮运行状态的动态耦合关系，掌握煤矿深井提升容器高速运行时多钢丝绳末端张力实时传输方法，揭示钢丝绳张力传输时变延时特性，研究适合于钢丝绳动态特性的液压缸主动调节张力协调控制方法，提出失控工况下多钢丝绳张力主动容错控制策略，解决大吨位提升容器高速运行失控、断绳事故下的安全制动问题，开展煤矿深井提升容器的钢丝绳张力实时监测、协调控制，失控工况下的容错控制及断绳事故下紧急制动的试验研究。研究成果对提高煤矿深井大吨位提升容器高速运行安全性具有重要意义。

项目建立了煤矿深井大吨位高速提升系统刚柔耦合动力学模型及其非线性控制模型，分析了强时变载荷下提升容器的动态特性及钢丝绳张力传递规律，构建了基于井筒接收分站最优布置算法及多接收基站协同最优路由算法的无线传感网络，结合信号传输延时特性，设计了张力时变延迟观测器和低增益状态观测器，实现了多钢丝绳张力在线监测，提出了基于反步法的主轴装置电液制动器群协调控制器，实现了提升容器的恒减速安全制动，提出了失稳工况下提升容器软冗余主动容错控制策略，提高了异常工况下高速提升容器的运行稳定性，研制了集成实时控制器与人机交互系统的高速提升容器机电液综合试验台，通过实验验证了所提控制策略的有效性，实现了煤矿深井大吨位提升容器高速安全运行的研究，保证了系统的安全稳定性，完成了项目预期研究目标。