紧急制动工况下高速重载矿井提升机多制动器协同控制方法

Aimed at eliminating major potential accidents of rope-slipping, rope-breaking and hoisting conveyance crashing caused by emergency braking for high-speed and heavy-load mine hoist, the high-speed and heavy-load mine hoist is selected as the research object for this project, and the cooperative control method of multiple brakes for high-speed and heavy-load mine hoist under emergency braking are conducted. The main research contents of this project are summarized as follows. Firstly, the rigid-flexible-hydraulic coupling model of the hoisting system under emergency braking is established, based on which the system’s vibration behavior is analyzed, and then the nonlinear control model for high-speed and heavy-load mine hoist under emergency braking is constructed. Next, after investigating the non-stationary disturbance observation algorithm during mine hoist emergency braking, the controlled adaptive estimation strategy for system parameters using disturbance and excitation intensity monitoring is established, and then the online robust design method for emergency braking moment of mine hoist based on analytical model is proposed. Finally, on the basis of improving the displacement/pressure control performance for electro-hydraulic brakes under emergency braking by nonlinear control approach, the impact-free switching strategy between shoe-approaching and braking control modes for each brake is constructed, and then the moment cooperative control method for multiple brakes based on dynamic control assignment is proposed. The research results of this project are of great significances in enhancing the safety operation level of high-speed and heavy-load mine hoist and avoiding the occurrences of serious accidents.

针对高速重载矿井提升机紧急制动中存在打滑、断绳、提升容器坠毁重大事故隐患的问题，本项目以高速重载矿井提升机为研究对象，开展紧急制动工况下高速重载矿井提升机多制动器协同控制方法的研究。主要研究内容包括：建立紧急制动工况下提升系统刚-柔-液耦合非线性模型，分析紧急制动过程提升系统振动特性，构建紧急制动非线性控制模型；研究提升机紧急制动过程非定常扰动观测算法，构建基于扰动及激励程度监控的参数受控自适应估计策略，提出基于解析模型的高速重载矿井提升机紧急制动力矩在线鲁棒设计方法；研究紧急制动工况下电液制动器高精度位置/压力非线性控制方法，构建提升机各制动器贴闸/压紧控制模式的无冲击切换策略，提出基于动态控制分配的多制动器力矩协同控制方法，实现紧急制动工况下高速重载矿井提升机多制动器的高精度安全平稳制动。研究成果对提升高速重载矿井提升机的安全运行水平、避免恶性事故的发生具有重要意义。

针对高速重载矿井提升机紧急制动中存在打滑、断绳、提升容器坠毁重大事故隐患的问题，本项目以高速重载矿井提升机为研究对象，开展紧急制动工况下高速重载矿井提升机多制动器协同控制方法的研究，主要研究内容和重要结论如下：.（1）考虑提升绳索柔性、制动器液压非线性、容器刚度等因素，建立了高速重载矿井提升系统刚柔耦合非线性模型，揭示了提升载荷、制动减速度等主导因素对提升机紧急制动过程振动特性的影响规律，构建了高速重载矿井提升机紧急制动非线性控制模型，研制了单绳缠绕式矿井提升机制动模拟实验台。.（2）以紧急制动过程安全性和平稳性为目标，制定了紧急制动过程提升容器速度控制曲线；设计了提升机制动系统非线性扩张状态观测器，解决了制动过程非定常时变扰动的动态观测及系统不可测状态在线估计；基于构建的非线性制动控制模型，提出了基于神经网络自适应原理的提升机紧急制动力矩在线鲁棒设计方法，获得了提升机安全平稳制动的实时控制力矩。.（3）考虑液压系统非线性特性，设计了电液制动器位置/压力非线性自适应控制方法，实现了提升机电液制动器贴闸和压紧动作的高精度控制；构建了基于模糊切换准则的电液制动器位置/力无冲击切换控制策略，解决了紧急制动过程制动器贴闸/压紧模式切换冲击问题；设计了矿井提升机多制动器贴闸动作一致性控制策略，制定了考虑闸瓦磨损量差异的多制动器力矩动态控制分配方法，提出了基于分层滑膜算法的多制动器力矩协同控制策略，实现了紧急制动工况下高速重载矿井提升机的安全平稳运行。.本项目研究成果对提升高速重载矿井提升机的安全运行水平、避免恶性事故的发生具有重要意义，同时亦可为其他复杂机电液系统提供控制方法上的借鉴。