多源激励下超深立井多绳提升绳弦碰撞行为及主动控制研究

The multi rope winding system is investigated to study the rope collision, rope vibration measurement and active control in a super-deep shaft, based on theoretical research, numerical calculation, co-simulation method and experimental research. Firstly, aiming at the potential collision behavior of hoisting ropes in a super-deep shaft, a coupled vibration model with multiple excitations for flexible rope strings is to be established to study the coupling mechanism between the transverse displacement of the rope string and the multiple excitations and thereby to reveal the collision behavior of the rope strings in the multi rope winding system. Subsequently, to solve the technical difficulty that the transverse vibration of an arbitrary point in a moving rope cannot be well measured and to provide accurate data for the analysis of rope collision, a method for measuring the transverse displacement of moving ropes under complicated background using multiple target vision tracking algorithms is to be designed. Lastly, to reduce the transverse vibrations of hoisting ropes with large dead time and big inertia, the effects of the dead time and hoisting deceleration on the steady response of the hoisting system are to be investigated under the active time delay control and intelligent deceleration braking strategy and eventually realize the rope resonance. The present project could provide good theoretical and experimental foundations for the study of the mechanism of potential rope collision and the vibration reduction in a multiple rope winding system in a super-deep shaft.

本项目以超深立井多绳提升系统为研究对象，综合运用理论分析、数值计算、联合仿真与科学实验相结合的研究方法，深入开展超深立井绳弦碰撞机理、动态检测与主动时滞控制研究。首先，针对超深立井多绳提升绳弦潜在的碰撞行为，建立多源激励下柔性绳弦的耦合振动模型，研究绳弦横向位移场与各激励源的耦合机制，揭示大尺度强时变超深立井多绳提升柔性绳弦碰撞机理；其次，为解决移动绳弦空间位置某一具体点横向位移难以检测的难题，并为绳弦碰撞机理研究提供数据支持，采用多目标视觉跟踪算法构建复杂背景下移动绳弦横向位移场检测方法；最后，为实现大时滞与大惯量情形下超深立井多绳提升绳弦横向减振，建立柔索横向振动主动时滞控制与智能减速制动策略，得到时滞与提升系统减速度作为参数对系统稳定性的影响,从而抑制柔索的横向位移场，避免绳弦碰撞的发生。本项目可为千米深井多绳提升装备潜在的绳弦碰撞行为的机理研究与减振控制奠定理论基础和实验基础。

随着矿井提升深度与终端载荷的增加，提升钢丝绳在卷筒缠绕运动，导向轮的轴向摆动、刚性罐道的随机不平度等多源因素的扰动作用下增强了悬绳与垂直绳的横向位移，极易引发相邻绳在高速重载运行时的剧烈碰撞，严重损伤钢丝绳表面，造成断丝断股，危及矿井提升安全。为了抑制提升绳的横向振动，保证矿井提升系统安全平稳运行进行了如下研究：首先，通过建立超深矿井提升机的悬绳和垂绳振动数学模型，分析了多源激励下超深立井的碰撞行为，得到了超深矿井提升系统多向扰动的失稳机理，为绳弦振动的控制与抑制提供了理论依据。其次，为实现移动提升绳复杂障碍背景工况下横向振动的测量，开展了基于机器视觉技术的移动绳弦横向振动测量方法研究，基于Kalman预测改进了Mean Shift跟踪测量方法以及提出了基于灰度信息的NCC图像匹配和亚像素模板匹配等方法，实现了复杂背景下提升绳任一空间位置的横向振动以及横-侧向振动的准确测量，为实现提升绳的动态检测奠定了理论基础。最后，为实现大时滞与大惯量情形下超深立井多绳提升绳弦减振，基于磁流变阻尼器设计了深部矿井提升系统纵向减振的新型悬挂装置和用于深部矿井提升系统横向减振的滚轮罐耳装置，利用磁流变阻尼悬挂装置及含磁流变阻尼器的罐耳装置进行超深矿井多向抑振研究，结果表明将磁流变阻尼器应用于矿井提升系统能有效减弱提升主绳及提升容器的横向和纵向振动位移及冲击力。因此上述研究为抑制多绳碰撞、动态检测和主动减振奠定了基础，对于千米以上超深立井多绳提升过程的安全具有重要的理论意义和实际工程应用价值。