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. The present invention has the advantages that a system state variable derivation process is omitted, so that a design process of the controllers is greatly simplified. The response time of the controllers can be shortened, and a hoisting container can fast reach a leveling state. In an application process of the system, sensor measurement noise and system non-modeling characteristics can be amplified through state variable derivation, so that tracking errors can be reduced through design of the flatness controller. A control process is more precise, and good control performance is ensured.


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    Title :

    HOISTING CONTAINER POSE CONTROL METHOD OF DOUBLE-ROPE WINDING TYPE ULTRA-DEEP VERTICAL SHAFT HOISTING SYSTEM


    Contributors:
    SHEN GANG (author) / ZHU ZHENCAI (author) / LI XIANG (author) / TANG YU (author) / CAO GUOHUA (author) / ZHOU GONGBO (author) / LIU SONGYONG (author) / PENG YUXING (author) / LU HAO (author)

    Publication date :

    2021-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66B Aufzüge , ELEVATORS / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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