Title:
DOUBLE-ROPE WINDING ULTRA-DEEP VERTICAL SHAFT HOISTING SYSTEM HOISTING CONTAINER POSE CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/206931
Kind Code:
A1
Abstract:
A double-rope winding ultra-deep vertical shaft hoisting system hoisting container pose control method, comprising the following steps: step 1, building a double-rope winding ultra-deep vertical shaft hoisting subsystem mathematical model; step 2, building an electrohydraulic servo subsystem position closed-loop mathematical model; step 3, outputting a nonlinear system flatness characteristic; step 4, designing a double-rope winding ultra-deep mine hoisting subsystem pose leveling flatness controller; and step 5, designing electrohydraulic servo subsystem position closed-loop flatness controllers. According to the method, a system state variable derivation process is omitted, and a controller design process is greatly simplified, so that the response time of a controller can be shortened and then a hoisting container can quickly reach a leveling state; moreover, during system application, because state variable derivation can amplify sensor measurement noise and system unmodeled characteristics, the design of flatness controllers can reduce tracking errors, so that the control process is more accurate and excellent control performance can be guaranteed.
Inventors:
SHEN GANG (CN)
ZHU ZHENCAI (CN)
LI XIANG (CN)
TANG YU (CN)
CAO GUOHUA (CN)
ZHOU GONGBO (CN)
LIU SONGYONG (CN)
PENG YUXING (CN)
LU HAO (CN)
ZHU ZHENCAI (CN)
LI XIANG (CN)
TANG YU (CN)
CAO GUOHUA (CN)
ZHOU GONGBO (CN)
LIU SONGYONG (CN)
PENG YUXING (CN)
LU HAO (CN)
Application Number:
PCT/CN2019/105589
Publication Date:
October 15, 2020
Filing Date:
September 12, 2019
Export Citation:
Assignee:
UNIV CHINA MINING (CN)
International Classes:
F15B1/02; B66B7/10; F15B19/00; G05B13/04
Foreign References:
| CN110145501A | 2019-08-20 | |||
| CN102602838A | 2012-07-25 | |||
| CN104444707A | 2015-03-25 | |||
| CN109334380A | 2019-02-15 | |||
| CN104763694A | 2015-07-08 | |||
| CN104035334A | 2014-09-10 | |||
| US20170305722A1 | 2017-10-26 | |||
| JP2011101938A | 2011-05-26 |
Attorney, Agent or Firm:
NANJING JINGWEI PATENT & TRADEMARK AGENCY CO., LTD (CN)
Download PDF:
Previous Patent: ARRAY SUBSTRATE MOTHERBOARD
Next Patent: COMBINE HARVESTING EQUIPMENT HAVING ROTARY TILLER
Next Patent: COMBINE HARVESTING EQUIPMENT HAVING ROTARY TILLER