CN107001000B - Control method, lifting drum control system and the mine drum hoist system of the lateral resonance in suspension cable - Google Patents
Control method, lifting drum control system and the mine drum hoist system of the lateral resonance in suspension cable Download PDFInfo
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- CN107001000B CN107001000B CN201580061793.0A CN201580061793A CN107001000B CN 107001000 B CN107001000 B CN 107001000B CN 201580061793 A CN201580061793 A CN 201580061793A CN 107001000 B CN107001000 B CN 107001000B
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- transporter
- speed
- lifting drum
- suspension cable
- lateral resonance
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B15/00—Main component parts of mining-hoist winding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
Abstract
This disclosure relates to a kind of method of the lateral resonance in suspension cable for controlling mine drum hoist system (1), mine drum hoist system includes the lifting drum (5) with fold line grooves, head sheave (7), the rope (9) with vertical rope por-tion (9b) and the suspension cable (9a) extended between lifting drum (5) and head sheave (7) and the transporter (11) for being attached to vertical rope por-tion (9b).Method includes: a) to determine the currently active load of transporter (11), b) the promotion speed for corresponding to the lifting drum (5) of First Speed of transporter (11) is obtained, c) the lateral resonance position along vertical rope por-tion (9b) is determined, generate lateral resonance in suspension cable (9a) when arrived at by the transporter (11) with the currently active load and First Speed at the lateral resonance position, wherein lateral resonance position is determined based on the currently active load and promotion speed, and the First Speed of transporter (11) d) is reduced in the speed reduction zone for including lateral resonance position.Present disclosure also relates to computer program, lifting drum control system (3) and mine drum hoist systems (1).
Description
Technical field
The disclosure relates generally to mine drum hoist system.Particularly, it is related to the promotion of mine drum hoist system
The control of machine reel.
Background technique
There is the broken line (broken line) for laying rope under normal circumstances with the lifting drum of more than one layer winding cords
Rope groove.Rope groove in addition to be other than intersecting section it is parallel, in the intersection section, rope groove makes rope on the axial direction of reel
The distance of the mobile half for being equal to rope diameter, to next parallel rope groove.It is handed over there are two existing on the circumference of mandrel surface
Pitch section, it means that rope moves a rope diameter by fold line grooves after a full circle.It hands under normal circumstances
Fork section is exactly the opposite (diametrical).The arrangement is known as symmetrical broken line.
Reel is mounted on Near Ground under normal circumstances.Rope advances to the head sheave in the head frame above mine from reel
(head sheave).Rope angle between reel and head sheave is under normal circumstances at 45 degree or so.After having passed through head sheave,
Rope is vertically advanced in mine.Cable end is connected to the transporter of the transport for personnel, mineral or equipment.Rope
The part between lifting drum and head sheave be known as suspension cable.
Intersect section and push rope in a short time, is created on rope on the direction perpendicular to rope axis close
" kicking " of the shape of rectangular pulse is also referred to as laterally kicked.Impulse wave can be converted into having by means of Fourier transformation
The fundamental sine wave of harmonic wave.It repeats, if kicked i.e. to correspond to intrinsic or resonant frequency the frequency excitation of suspension cable, laterally
The amplitude of suspension cable oscillation will accumulate to big unacceptable value.High amplitude will seriously affect the rope service life.
In addition, high amplitude may cause discomfort to the personnel to advance together with transporter.
It reduces and is promoted when being known that point (can generate in maximum speed) by resonating when rope pull close to suspension cable
Power (i.e. rope speed), the resonance point will be displaced to another rope pull, because under reduced speed, broken line on reel
Motivating or kick dynamic frequency will be lowered.
For constant load always with nominal full speed running and in an upward direction and in a downward direction
For the elevator (the case where this is for production elevator) of zero payload, promoting what speed was lowered under normal circumstances
It is sufficient for having pre-determined distance in mine.However, this is inadequate in the case where the payload of transporter and velocity variations
's.
Summary of the invention
The purpose of the disclosure is to solve or at least mitigate these problems of the prior art.
Therefore, according to the disclosure in a first aspect, being provided in a kind of suspension cable of control mine drum hoist system
The method of lateral resonance, mine drum hoist system include the lifting drum with fold line grooves, head sheave, have vertical rope
The rope of rope part and the suspension cable extended between lifting drum and head sheave and the transporter for being attached to vertical rope por-tion,
Middle method includes: a) to determine the currently active load of transporter, b) obtain the elevator volume for corresponding to the First Speed of transporter
The promotion speed of cylinder, c) determine lateral resonance position along vertical rope por-tion, when by having at the lateral resonance position
The transporter of the currently active load and First Speed generates lateral resonance when arrived in suspension cable, wherein lateral resonance position base
It is determined in the currently active load with speed is promoted and d) reduces transporter in the speed reduction zone for including lateral resonance position
First Speed.
What can be obtained by reducing the First Speed of transporter in speed reduction zone has technical effect that resonance point is moved
Far from lateral resonance point.Lateral resonance will not occur at identified lateral resonance position as a result.Further, since in speed
Degree reduce area outside maintain First Speed, so due to speed reduce and will never by mobile lateral resonance position
Become a reality, this is because when transporter when the outside of speed reduction zone is mobile lateral resonance position can be moved to it is originally determined
Lateral resonance position.Therefore, any payload of transporter and any First Speed can be substantially avoided hanging
Lateral resonance in rope.When transporter is promoted in mine, therefore payload and/or speed are allowed to be varied.
One embodiment include receive the first power measurement of the first load cell from head sheave and from head sheave the
Second power of two load cells measures, and wherein step a) is involved by the way that the first power measurement is added to the second power measurement and determined
The summation of force value, wherein the currently active load is determined based on the summation of force value.
According to one embodiment, the currently active load by subtracted from the summation of force value vertical rope por-tion weight,
The weight of the weight of transporter and head sheave determines.
According to one embodiment, determine that lateral resonance position is based further on the resonant frequency of suspension cable, mentions in step c)
It rises the diameter of machine reel, frequency, the slave head sheave of vertical rope por-tion in the pulse of the rope of the infall of fold line grooves occurs
The central axis length, the weight of transporter, the length of the rope weight of per unit length and suspension cable that are open to mine.
According to one embodiment, lateral resonance position is obtained from look-up table in step c), and look-up table includes for more
A the currently active load of difference and the lateral resonance position precalculated for promoting velocity composition.
According to one embodiment, the step d) for reducing the First Speed of transporter involves reduction and promotes speed.
One embodiment includes determining speed reduction zone based on the promotion speed obtained in step b), and wherein speed drops
The determination in low area, which involves retrieval rate, reduces area, speed reduction zone be directed to lateral resonance position it is determining and be based on by
Difference between the measurement of the first power that first load cell measures and the second power measurement measured by the second load cell at
The suspension cable side force value of ratio determines.
According to the second aspect of the disclosure, it is provided with a kind of computer program product that component can be performed including computer,
Computer can be performed component cause when being executed by processing system include processing system lifting drum control system execution root
According to the method for first aspect.
According to the third aspect of the disclosure, it is provided with a kind of lifting drum control system, is configured to control mine volume
The lateral resonance of suspension cable in drum hoisting machine system, mine drum hoist system include that there is the elevator of fold line grooves to roll up
It cylinder, head sheave, the rope with the suspension cable and vertical rope por-tion extended between lifting drum and head sheave and is attached to perpendicular
The transporter of straight rope por-tion, wherein lifting drum control system includes: storage unit and processing unit, wherein storage is single
Member includes that component can be performed in computer, and computer can be performed component and cause lifting drum control system when being executed by processing system
System with: determine the currently active load of transporter, obtain the promotion speed for corresponding to the lifting drum of First Speed of transporter
Degree determines the lateral resonance position of the vertical rope por-tion along the rope for being attached with transporter, determines along vertical rope portion
The lateral resonance position divided is worked as at the lateral resonance position and is supported by the transporter with the currently active load and First Speed
Up to when lateral resonance is generated in suspension cable, wherein lateral resonance position based on the currently active load and promotes speed and determines, and
The First Speed of transporter is reduced in the speed reduction zone for including lateral resonance position.
According to one embodiment, the first power that processing unit is configured to receive the first load cell from head sheave is surveyed
The second power measurement of amount and the second load cell from head sheave, wherein processing system is configured to by measuring the first power
The second power measurement is added to determine the summation of force value, and wherein processing system is configured to the summation based on force value to determine
The currently active load.
According to one embodiment, processing system is configured to the weight by subtracting vertical rope por-tion from the summation of force value
Amount, the weight of the weight of transporter and head sheave determine the currently active load.
According to one embodiment, processing system is configured to resonant frequency based on suspension cable, the diameter of lifting drum, hair
The frequency of the pulse of the rope of the infall of the raw fold line grooves in lifting drum, vertical rope por-tion are from the central axis of head sheave
The length of the weight of length, transporter, the rope weight of per unit length and suspension cable that line is open to mine is laterally total to determine
Shake position.
According to one embodiment, processing system is configured to obtain lateral resonance position from look-up table, and look-up table includes
For the lateral resonance position of multiple and different the currently active load and the precomputation for promoting velocity composition.
According to one embodiment, processing system is configured to determine speed reduction zone based on speed is promoted, wherein handling
System is configured to determine that speed reduction zone, the speed reduction zone have been directed to transverse direction by retrieving following speed reduction zone
Resonant position is determining and based on the first power measurement measured by the first load cell and by the survey of the second load cell
The proportional suspension cable side force value of the difference between the measurement of the second power obtained determines.
According to the fourth aspect of the disclosure, it is provided with a kind of mine drum hoist system, comprising: lifting drum, tool
There are fold line grooves, head sheave, rope is arranged between lifting drum and head sheave and extends thus to limit suspension cable and vertical rope
Rope part, transporter are arranged to and are attached to vertical rope por-tion, and motor is arranged to operation lifting drum, are arranged to control
The lifting drum control system according to the third aspect of motor processed.
Generally, all terms used in claims should all be explained according to the ordinary meaning of technical field,
Unless otherwise explicitly defined herein.All references to " one/mono-/element, equipment, building block, device etc. " will be opened
Ground is explained as referring at least one example of element, equipment, building block, device etc., unless expressly stated otherwise,.
Detailed description of the invention
The specific embodiment of idea of the invention described by way of example now with reference to attached drawing, in which:
Fig. 1 is the schematic example of mine drum hoist system and lifting drum control system；
Fig. 2 is the exemplary front schematic view of the mine drum hoist system in Fig. 1；
Fig. 3 a is the schematic side elevation of the details of the head sheave in the mine drum hoist system in Fig. 1；
Fig. 3 b is the front schematic view of the details of the head sheave in Fig. 1；
Fig. 3 c is the front schematic view of the lifting drum and head sheave in Fig. 1；
The schematic diagram of the method for lateral resonance in the suspension cable of mine drum hoist system in Fig. 4 control figure 1；With
Fig. 5 a to Fig. 5 c shows the figure of suspension cable side force value.
Specific embodiment
Now hereinafter with reference to there is shown with the attached drawing of the exemplary embodiment concepts that the present invention is more fully described.
However, idea of the invention can embody and should not be construed as limited by implementation set forth herein in many different forms
Example；But these embodiments be provide by way of example make the disclosure that will be thorough and complete, and can will this
The concept of invention is fully conveyed to those skilled in the art.Similar appended drawing reference refers to similar element through description.
The disclosure generally details: how to be extended to and vertical rope por-tion by determining along the slave head sheave of rope
The lateral resonance position of the vertical rope por-tion of the transporter of connection, and by the speed reduction zone including lateral resonance position
The middle speed for reducing transporter, can avoid in mine drum hoist system or at least reduce the lateral resonance in suspension cable.
Lateral resonance position based on the currently active load for being arranged to the transporter promoted in mine by means of lifting drum, and
And the desired speed moved in mine in the case where speed is programmed based on transporter, or in transporter speed by hand
The practical present speed moved in mine in the case where dynamic operation based on transporter.
By only reducing speed in speed reduction zone, there are several suspension cable lateral resonance points, laterally
Resonance point is moved away from identified lateral resonance point.
Furthermore the disclosure is detailed should be classified as cross along which position of vertical rope por-tion in control method
To resonant position, some lateral resonance positions of unnoticeably lateral resonance are provided in suspension cable because there may be,
The unnecessary speed for reducing transporter there.Therefore there is disclosed herein a kind of tuning methods, wherein selecting for control method
Associated transverse resonance point.Tuning methods also disclose how selection speed reduction zone and speed reduction zone should be much reduce
The speed of transporter.
Fig. 1 depicts the mine drum hoist system 1 of the lifting drum 5 including broken line type.Lifting drum 5 is therefore
With multiple fold line grooves 5a, as shown in Figure 2.Fold line grooves 5a have two intersection sections of every circle, as in Fig. 2 by means of region
Shown in 5b and 5c.Each half intersected section and fold line grooves 5a is made to translate such as rope diameter in the axial direction.In a circle
In each broken line rope 5a therefore in the axial direction be translated a rope diameter.
Drum hoist 5 may, for example, be single-drum winder or double drum winder.Each of which can match
Have the one or more ropes for carrying transporter.
Mine drum hoist system 1 further comprises head sheave 7, rope 9 and transporter 11.Rope 9 is with one or more
Layer, such as three layers are wound around lifting drum 5.Rope 9 extends to head sheave 7 from lifting drum 5.Rope 9, which has, to be promoted
The suspension cable 9a extended between machine reel 5 (rope is wound onto fold line grooves 5a around lifting drum 5) and head sheave 7.Rope 9
With the vertical rope por-tion 9b for advancing to transporter from head sheave 7.Rope 9 is connected or attached to transporter 11, so that when mentioning
When liter machine reel 5 is rotated and rope 9 is wound or is unfolded, the vertical position of transporter 11 is modified.
Mine drum hoist system 1 includes the first load cell 7a and the second load cell 7b.Head sheave 7 equipped with
First load cell 7a and the second load cell 7b.First load cell 7a and the second load cell 7b is for determining
Suspension cable side force in the currently active load and head sheave 7 of transporter 11.
Multiple vertical distances are depicted in Fig. 1.First distance d1 is defined as from day wheel axis A to as being used for transmission
The upside of machine 11 logs in the vertical distance of the mine opening 13 of level height.First distance d1 is fixed, and is known
Parameter.Second distance d2 is defined as 13 vertical distances pushed up to transporter 11 that are open from mine.When transporter is stepped in downside
Second distance d2 is in its maximum value when the level height of land.Third distance d3 is confirmed as pushing up from day wheel axis A to transporter 11
Distance, i.e. the summation of first distance d1 and second distance d2.It is that second distance d2 is determined along vertical rope under normal circumstances
The lateral resonance position of part 9b, this will be described in more detail below.Lateral resonance position is to work as to have specific effective load
The position along vertical rope por-tion 9b of lateral resonance occurs when the transporter of lotus and speed arrives in suspension cable 9a.
Mine drum hoist system 1 includes having the lifting drum control system of processing system 3a and storage unit 3b
3.Storage unit 3b includes that cause lifting drum control system 3 to execute disclosed herein when running on processing system 3a
Component can be performed in the computer of method.Particularly, lifting drum control system 3 is configured to determine currently having for transporter 11
Imitate load.Lifting drum control system 3 can be for example based on respectively by the first load cell 7a and the second load cell
The first power measurement that 7b is executed determines the currently active load with the second power measurement.
Furthermore lifting drum control system 3 is configured to obtain the promotion of the lifting drum 5 as unit of rice per second
Speed, this is the speed of transporter 11, referred herein as First Speed.Promoting speed can be for operating the pre- of transporter 11
The parameter of programming, or can be the real value for example obtained by measuring the rotation number per unit time of lifting drum 5.
Furthermore lifting drum control system 3 is configured to determine when the transporter 11 with specific payload and speed
The lateral resonance position along vertical rope por-tion 9b of lateral resonance occurs when arrived in suspension cable 9a, and is configured to
The First Speed of transporter 11 is reduced in the speed reduction zone for including lateral resonance position.
Lateral resonance position is determined by lifting drum control system 3 based on the currently active load and promotion speed.It is horizontal
Second distance d2 is equivalent to for certain positions of transporter 11 to resonant position.By that will be transported in speed reduction zone
The First Speed of machine 11 is reduced to second speed, by operating the promotion speed, makes lateral resonance position from by lifting drum
That position that control system 3 determines is moved to lateral resonance position after movement.Mean about lateral resonance position after movement
Lateral resonance position be attributed to the reduction of First Speed by mobile lateral resonance position.However, when transporter 11 reaches shifting
Suspension cable resonance will not occur after dynamic when lateral resonance position, because First Speed is only lowered in speed reduction zone.
Mine drum hoist system 1 may include motor M and driving unit 15.Lifting drum control system 3 can be with
Be configured to for example operate motor M via driving unit 15 with thus control rope 9 from the winding speed of lifting drum 5 and
Development rate promotes speed.The speed of transporter 11 can be controlled as a result.
Fig. 3 a schematically show head sheave 7, one in load cell (be the first load cell in this example
7a), the side view of suspension cable 9a and vertical rope por-tion 9b.It is measured by the first load cell 7a and the second load cell 7b
Total power (summation of force value) FtotIt is the vector sum (arrow for being considered as that there are different directions of the weight and rope pull by head sheave 7
Measure component but both with identical amplitude FRVertical component FRWith suspension cable component FR) provided by power summation.
According to a modification, lifting drum control system 3 is arranged to by the way that the first power is measured FLaAdd to the second power
Measure FLbDetermine the summation of force value, as shown in Figure 3b.According to a modification, lifting drum control system 3 is configured to base
In as the first power measurement FLaF is measured with the second powerLbVector sum absolute value force value summation FtotCurrently have to determine
Imitate load.The currently active load can pass through the summation F from force valuetotIn subtract weight, the transporter 11 of vertical rope por-tion 9b
Weight and the weight of head sheave 7 determine.Suspension cable resonant frequency fC, particularly basic resonant frequency can be expressed as:
Wherein LCIt is the length and m of suspension cable 9arIt is the weight of the rope as unit of quality/length cell, such as kg/m
Amount.When basic rope kicks the f of dynamic frequencyexcIntegral multiple be equal to suspension cable resonant frequency fCWhen, obtain the lateral resonance in suspension cable.
Basic rope is kicked dynamic frequency and be can be expressed as:
Wherein v is the promotion speed as unit of meter per second, and D is the diameter of lifting drum 5.There is several layers rope
In the case that rope is wound up on lifting drum 5, dynamic frequency F is kicked calculating basic ropeexcWhen also these are taken into account.
Rope pull value can be expressed as FR=(mc+m1+d3*mr) * g, wherein mcIt is the weight and m of transporter 11lIt is
The currently active load, third distance d3=d1+d2, and g is acceleration of gravity.Therefore from relationship fexc=fcIt can derive:
According to a modification, in view of equation (3), therefore lifting drum control system 3 can be configured in addition to effective
The diameter D of resonant frequency, lifting drum 5 except load and promotion speed also based on suspension cable 9a, occur in fold line grooves
(i.e. rope kicks dynamic frequency f to the frequency of pulse in the rope of infallexc), from the central axis (i.e. day wheel axis A) of head sheave to
The length (i.e. first distance d1) of vertical rope por-tion of mine opening 13, the length of suspension cable, transporter weight mcWith every length
Spend unit rope weight mrTo determine lateral resonance position.
It describes to be controlled mine drum hoist system 1 by means of lifting drum control system 3 now with reference to Fig. 4
Suspension cable 9a in lateral resonance method.
In step a), the current of transporter 11 is determined by means of the processing system 3a of lifting drum control system 3
Payload ml.Therefore the currently active load can be determined for example in the manner described above.
As already mentioned previously, step a) may include the first power for receiving the first load cell 7a from head sheave 7
The second power measurement of measurement and the second load cell 7b from head sheave 7.Step a) is involved by by this case
One power measurement adds to the second power measurement to determine the summation of force value, wherein summation F of the currently active load based on force valuetotCome true
It is fixed.Particularly, the currently active load can pass through the summation F from force valuetotIn subtract the weight of transporter 11, vertical rope portion
Divide the weight of 9b and head sheave 7 to determine.
The promotion speed v of lifting drum 5 is obtained in step b).The promotion proportional to the First Speed of transporter 11
Speed v can (being the parameter of pre-programmed) proportional to the expectation maximum speed of transporter, or can determine in real time.
It should be noted that b) unnecessary being executed for step a) and with order above；Their sequence can be interchanged.
The lateral resonance position along vertical rope por-tion 9b is determined in step c) (for a certain section of second distance d2).
Lateral resonance position is based on the currently active load mlIt is determined with based on speed v is promoted.Lateral resonance position is according to a modification
It can be determined by means of equation (3).Alternatively, lateral resonance position can promote speed and currently have from being stored with wherein
It imitates and is retrieved in multiple combined look-up tables of load.
According to a modification, the determination of lateral resonance position is based further on the resonant frequency f of suspension cable in step c)C、
The frequency f for the pulse in rope 9 that the diameter of lifting drum 5, the infall of fold line grooves 5a occurexc, from head sheave 7
Mandrel line (i.e. day wheel axis A) is to the length (i.e. first distance d1) of vertical rope por-tion 9b of mine opening 13, transporter
Weight mc, the length of suspension cable 9a and the rope weight m of the every length unit of roper。
In step d), rolled up by and including the speed reduction zone reduction promotion speed of lateral resonance position by elevator
Cylinder control system 3 reduces the First Speed of transporter 11.The reduction of First Speed therefore can be for example single by control driving
The lifting drum control system 3 of member 15 obtains, driving unit 15 and then the motor M for operating driving lifting drum 5.
Speed reduction zone can be by retrieving the speed fixed for lateral resonance position during tuning/calibration procedure
Area is reduced to determine.Speed reduction zone can during tuner program based on the first power for being measured by the first load cell 7a
Measure FLaF is measured with the second power measured by the second load cell 7bLbBetween the proportional suspension cable side force value F of differenceCCome
It determines.The program will be described in more detail below.
The tuning of control program for lifting drum control system 3 is for can determine associated transverse resonant position
Important, thus to obtain by means of the efficient transport of the equipment of transporter 1, mineral and personnel.Therefore, in mine drum lifting
Before the debugging of machine system 1 and lifting drum control system 3, lifting drum control can be tuned or calibrated.It will below
Middle description tuner program.
Fig. 3 c is gone to, it is negative that this schematically shows lifting drum 5, head sheave 7, the first load cell 7a and second
The front view of set sensor 7b.As that can find out in figure 3 c, shows in two extreme positions and to be limited by head sheave
Drift angle α between vertical central axis and suspension cable 9a.Drift angle α depends on rolling up during operating winding along elevator with suspension cable
How many rope 9 have been unfolded when moving between left and right in the axial direction of cylinder 5 from lifting drum 5.
According to a modification, lifting drum control system 3 is configured to: by as previously described by means of utilizing
The first power of first load cell 7a measures FLaWith the second load measure F using the second load cell 7bLbIt is determined as
The suspension cable component F of rope pullR, and by by rope pull multiplied by sin α, i.e. FR× sin (α) (wherein α is drift angle) is determined
Theoretical suspension cable side force value FC1.As for theory side force value F shown in multiple second distance d2C1It is shown in figure in fig 5 a.
Therefore the first load cell measured along transporter 11 in the entire mine wherein transported vertically is utilized in tuner program
The first power measurement of 7a and the second power of the second load cell 7b measure.As can be seen that theoretical suspension cable side force value FC1With fortune
Defeated machine 11 moves in mine along vertical axis (i.e. as second distance d2 changes) and is changed.Seem more in fact, drawing
As example shown in Fig. 5 b, wherein due to the transverse direction greatly increased at resonance in suspension cable 9a kicks suspension cable oscillating force is folded
It is added to suspension cable side force value FC1On.Therefore the drawing with suspension cable dynamometry value Fc is obtained.Then it draws as shown in Fig. 5 b,
Each region with the oscillation of increased suspension cable in drawing corresponds to lateral resonance position.Each suspension cable side force value Fc and the first power are surveyed
Measure FLaF is measured with the second powerLbBetween difference it is proportional.Suspension cable side force value Fc therefore can be based on the of each measurement point
One power measures FLaF is measured with the second powerLbBetween difference determine.
The amplitude of these suspension cable oscillating forces in drawing in Fig. 5 b can be utilized horizontal to determine by such as commissioning engineer
The speed for whether being large enough to excitation transporter to resonant position reduces, and it is thus determined that near such lateral resonance position
Speed reduction zone.For this purpose, commissioning engineer can for example calculate the maximum value and minimum of multiple values whithin a period of time
Difference between value.Region where being occurred by means of research lateral resonance position, can also determine speed reduction zone, i.e., will be fast
Degree reduce area be limited to before lateral resonance position how far with after lateral resonance position how far.Speed reduction zone can for example exist
In first step by commissioning engineer in research then as the drawing presented in Fig. 5 b is determined or obtained by reasonably guessing.
Hereafter can use identified speed reduction zone makes transporter 11 be subjected to Test driver.Followed by each measurement point with
First power measures FLaF is measured with the second powerLbBetween difference it is proportional again determine suspension cable side force value Fc.Then it can verify
Whether identified/speed reduction zone for being guessed is abundant for reducing or eliminating suspension cable oscillation at lateral resonance position,
Or whether must modify speed reduction zone.Can repeat/iteration program is until obtaining satisfactory result.So really
Then fixed can be stored the speed reduction zone of multiple lateral resonance positions by lifting drum control system 3.Therefore, when
Lifting drum control system 3 the later time for control suspension cable 9a in lateral resonance purpose as described above
When determining the lateral resonance position for a certain payload, lifting drum control system 3 be may be configured to by adjusting
The suitable speed reduction zone for the lateral resonance position is retrieved during humorous/calibration to determine for the lateral resonance position
Speed reduction zone.
In addition, second speed, the speed reduced can also be determined by commissioning engineer.Therefore it can tune/calibrate
The method for controlling the lateral resonance in suspension cable 9a.
Fig. 5 c is shown from value, the i.e. F subtracted in Fig. 5 a in the measured value in Fig. 5 bc2=Fc-Fc1To obtain through adjusting
Whole suspension cable side force value Fc2Drawing.Adjusted suspension cable side force value Fc2Since figure is parallel to x-axis extension and provide more preferable
Tuning management.It can limit and manage in a simple manner minimum and maximum limitation.According to a modification, lifting drum
Control system 3 is configured to determine suspension cable side force value FCOr adjusted suspension cable side force value FC2Multiple values whithin a period of time
Maxima and minima between difference.
Idea of the invention is essentially described with reference to several examples above.However, as those skilled in the art are easy neck
Can, other embodiments in addition to those disclosed above are equally possible of the invention general as defined by appended claims
In the range of thought.
Claims (15)
1. a kind of method of the lateral resonance in suspension cable (9a) for controlling mine drum hoist system (1), the mine reel
Elevator system include lifting drum (5) with fold line grooves (5a), head sheave (7), have vertical rope por-tion (9b) and
The rope (9) of the suspension cable (9a) extended between the lifting drum (5) and the head sheave (7), and be attached to it is described vertical
The transporter (11) of rope por-tion (9b), the method comprise the steps that
A) the currently active load of the transporter (11) is determined,
B) the promotion speed for corresponding to the lifting drum (5) of First Speed of the transporter (11) is obtained,
C) the lateral resonance position along the vertical rope por-tion (9b) is determined, at this location when with described the currently active
Lateral resonance is generated when the transporter (11) of load and the First Speed is arrived in the suspension cable (9a), wherein institute
Lateral resonance position is stated based on the currently active load and the promotion speed to determine, and
D) First Speed of the transporter (11) is reduced in the speed reduction zone for including the lateral resonance position.
2. the method as described in claim 1, first including receiving the first load cell (7a) from the head sheave (7)
Power measures (FLa) and from the head sheave (7) the second load cell (7b) the second power measure (FLb), wherein step a) is led
It relates to by the way that the first power measurement is added to the second power measurement and determines the summation of force value, wherein the currently active load
Lotus is determined based on the summation of the force value.
3. method according to claim 2, wherein the currently active load from the summation of the force value by subtracting institute
The weight of the weight of vertical rope por-tion (9b), the weight of the transporter (11) and the head sheave (7) is stated to determine.
4. method according to any one of claims 1 to 3, wherein determined in step c) the lateral resonance position into
One step is based on the resonant frequency of the suspension cable (9a), the diameter (D) of the lifting drum (5), generation in the fold line grooves
The frequency of pulse in the rope (9) of the infall of (5a), the vertical rope por-tion (9b) are from the head sheave (7)
Mandrel line (A) is to the mine opening length of (13), the weight of the transporter (11), the rope weight of per unit length and described
The length of suspension cable (9a).
5. method according to any one of claims 1 to 3, wherein the lateral resonance position described in step c) is from lookup
It is obtained in table, the look-up table includes the transverse direction precalculated for multiple and different the currently active load and promotion velocity composition
Resonant position.
6. method according to any one of claims 1 to 3, wherein reducing the step of the First Speed of the transporter (11)
Rapid d) involve reduces the promotion speed.
7. method according to any one of claims 1 to 3, including based on the promotion speed obtained in step b)
The speed reduction zone is determined, wherein the determination of the speed reduction zone, which involves retrieval rate, reduces area, the speed drop
Low area has been directed to the lateral resonance position determination and has been based on surveying with the first power measured by the first load cell (7a)
Measure (Fla) and the second power for being measured by the second load cell (7b) measure (FLb) between the proportional suspension cable side force value of difference
(FC) determine.
8. a kind of computer-readable medium, is stored thereon with instruction, described instruction causes to wrap when being executed by processing system (3a)
The lifting drum control system (3) for including the processing system (3a) executes side according to any one of claims 1 to 7
Method.
9. a kind of lifting drum control system (3), is configured to control the cross of the suspension cable in mine drum hoist system (1)
To resonance, the mine drum hoist system (1) include with the lifting drum (5) of fold line grooves (5a), head sheave (7),
The rope of the suspension cable (9a) extended with vertical rope por-tion (9b) and between the lifting drum (5) and the head sheave (7)
Rope (9), and it is attached to the transporter (11) of the vertical rope por-tion (9b), wherein the lifting drum control system
(3) include:
Storage unit (3b), and
Processing system (3a),
Wherein the storage unit (3b) includes that component can be performed in computer, and component can be performed when by the processing in the computer
System (3a) causes the lifting drum control system (3) when executing:
Determine the currently active load of the transporter (11),
The promotion speed for corresponding to the lifting drum (5) of First Speed of the transporter (11) is obtained,
Determine the lateral resonance of the vertical rope por-tion (9b) along the rope (9) for being attached with the transporter (11)
Position, when by the transporter (11) with the currently active load and the First Speed at the lateral resonance position
Lateral resonance is generated when arrived in the suspension cable (9a), wherein the lateral resonance position is based on the currently active load
It is determined with the promotion speed, and
The First Speed of the transporter (11) is reduced in the speed reduction zone for including the lateral resonance position.
10. lifting drum control system (3) as claimed in claim 9, wherein the processing system (3a) is configured to connect
The first power for receiving the first load cell (7a) from the head sheave (7) measures (FLa) and come from the head sheave (7) second
Second power of load cell (7b) measures (FLb), wherein the processing system (3a) is configured to by surveying first power
Amount adds to the second power measurement to determine the summation of force value, and wherein the processing system (3a) is configured to based on the force value
Summation determine the currently active load.
11. lifting drum control system (3) as claimed in claim 10, wherein the processing system (3a) is configured to lead to
Cross the weight that the vertical rope por-tion (9b) is subtracted from the summation of the force value, the weight of the transporter (11) and described
The weight of head sheave (7) determines the currently active load.
12. the lifting drum control system (3) as described in any one of claim 9 to 11, wherein the processing system
(3a) is configured to be based on the resonant frequency of the suspension cable (9a), the diameter (D) of the lifting drum, generation in elevator volume
The frequency of pulse, the vertical rope por-tion (9b) in the rope of the infall of the fold line grooves of cylinder are from the head sheave
(7) central axis (A) to mine opening the length of (13), the weight of the transporter (11), per unit length rope weight
It measures with the length of the suspension cable (9a) and determines the lateral resonance position.
13. the lifting drum control system (3) as described in any one of claim 9 to 11, wherein the processing system
(3a) is configured to obtain the lateral resonance position from look-up table, and the look-up table includes for multiple and different the currently active
Load and the lateral resonance position precalculated for promoting velocity composition.
14. the lifting drum control system (3) as described in any one of claim 9 to 11, wherein the processing system
(3a) is configured to determine the speed reduction zone based on the promotion speed, wherein the processing system (3a) is configured to
Determine that the speed reduction zone, the speed reduction zone have been directed to the lateral resonance by retrieving following speed reduction zone
Position is determining and based on measuring with the first power measurement measured by the first load cell and by the second load cell
The proportional suspension cable side force value of difference between the measurement of second power determines.
15. a kind of mine drum hoist system (1), comprising:
Lifting drum (5) has fold line grooves (5a),
Head sheave (7),
Rope (9) is arranged between the lifting drum (5) and the head sheave (7) and extends thus to limit suspension cable
(9a) and vertical rope por-tion (9b),
Transporter (11) is arranged to and is attached to the vertical rope por-tion (9b),
Motor (M) is arranged to the operation lifting drum (5), and
According to claim 1, lifting drum control system (3) described in any one of 0 to 14 be arranged to control institute
State motor (M).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP15151282.9A EP3045415A1 (en) | 2015-01-15 | 2015-01-15 | A method of controlling transversal resonance in a catenary, a hoist drum control system and a mine drum hoist system |
| EP15151282.9 | 2015-01-15 | ||
| PCT/EP2015/080026 WO2016113064A1 (en) | 2015-01-15 | 2015-12-16 | A method of controlling transversal resonance in a catenary, a hoist drum control system and a mine drum hoist system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107001000A CN107001000A (en) | 2017-08-01 |
| CN107001000B true CN107001000B (en) | 2019-05-31 |
Family
ID=52391801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580061793.0A Active CN107001000B (en) | 2015-01-15 | 2015-12-16 | Control method, lifting drum control system and the mine drum hoist system of the lateral resonance in suspension cable |
Country Status (9)
| Country | Link |
|---|---|
| EP (2) | EP3045415A1 (en) |
| CN (1) | CN107001000B (en) |
| AU (1) | AU2015377923B2 (en) |
| CA (1) | CA2973615C (en) |
| PE (1) | PE20171116A1 (en) |
| PL (1) | PL3245153T3 (en) |
| RU (1) | RU2695755C2 (en) |
| WO (1) | WO2016113064A1 (en) |
| ZA (1) | ZA201702563B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107973195A (en) * | 2017-12-12 | 2018-05-01 | 中国矿业大学 | A kind of method that lifting system load-carrying is confirmed based on image recognition |
| CN110127502B (en) * | 2019-06-19 | 2023-10-27 | 重庆大学 | Transition device for rope winding and application method thereof |
| FI3922812T3 (en) * | 2020-06-10 | 2024-02-19 | Abb Schweiz Ag | Method of operating a mining hoist |
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- 2015-12-16 PE PE2017000988A patent/PE20171116A1/en unknown
- 2015-12-16 EP EP15813810.7A patent/EP3245153B1/en active Active
- 2015-12-16 PL PL15813810T patent/PL3245153T3/en unknown
- 2015-12-16 WO PCT/EP2015/080026 patent/WO2016113064A1/en active Application Filing
- 2015-12-16 AU AU2015377923A patent/AU2015377923B2/en active Active
- 2015-12-16 CA CA2973615A patent/CA2973615C/en active Active
- 2015-12-16 CN CN201580061793.0A patent/CN107001000B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CA2973615C (en) | 2018-03-13 |
| EP3245153A1 (en) | 2017-11-22 |
| EP3045415A1 (en) | 2016-07-20 |
| CA2973615A1 (en) | 2016-07-21 |
| EP3245153B1 (en) | 2019-04-17 |
| RU2017128819A (en) | 2019-02-15 |
| WO2016113064A1 (en) | 2016-07-21 |
| AU2015377923B2 (en) | 2018-05-31 |
| RU2695755C2 (en) | 2019-07-25 |
| PE20171116A1 (en) | 2017-08-07 |
| ZA201702563B (en) | 2022-05-25 |
| PL3245153T3 (en) | 2019-10-31 |
| AU2015377923A1 (en) | 2017-04-20 |
| CN107001000A (en) | 2017-08-01 |
| RU2017128819A3 (en) | 2019-02-15 |
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