CN110472266A - A kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method - Google Patents
A kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method Download PDFInfo
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- CN110472266A CN110472266A CN201910552868.5A CN201910552868A CN110472266A CN 110472266 A CN110472266 A CN 110472266A CN 201910552868 A CN201910552868 A CN 201910552868A CN 110472266 A CN110472266 A CN 110472266A
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- braking
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- emergency braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
Abstract
The invention discloses a kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation methods, establish the mathematical model for promoting torque；The mathematical model of braking moment Yu wirerope dynamic tension relationship is obtained according to being promoted in the mathematical model of the promotion torque of foundation and braking process with friction pulley the tangent, transferring side wirerope dynamic tension；It is established at friction pulley point of contact according to the mathematical model of braking moment and wirerope dynamic tension relationship and promotes side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model；Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at friction pulley point of contact by solving, it obtains and promotes side, decline side the Dynamic Tension in Hoisting Rope in braking process, by solving braking moment and wirerope dynamic tension relation mathematic model, Hoist Emergency Braking torque in braking process is obtained.The present invention is the design of brake, the control of braking system and laboratory research provide data basis, while can study for mine hoist emergency braking characteristics and provide data basis.
Description
Technical field
The present invention relates to a kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation methods, belong to mine and mention
Rise machine calculation method field.
Background technique
Multi-rope friction hoisting machine due to its light weight, it is small in size, easy to operate, hoisting power is big the advantages that it is extensive
Promoted in operation applied to deep-well and ultra-deep mine (> 1000m), be responsible for promoted coal, lower putting material, lifts personnel and
The vital tasks such as equipment, therefore the reliability of its work efficiently produces safety of coal mines and has an important influence.Disk brake
Have many advantages, such as that braking is stable, easy to control, be capable of providing large range of braking moment, therefore it is widely used in mine
Brake for elevator field.As the key components of mine hoist, disk brake is in emergency circumstances to stop promoting system
The last guarantee of system operation, brake must reach scheduled braking moment and braking deceleration under any emergency braking operating condition
Can degree realize that timely emergency braking is raw to the functional reliability of elevator and the safety of coal mine in lifting process
Production plays decisive role.
However during actual Hoist Emergency Braking, dynamic characteristic is presented in steel wire rope tension, it is assumed that braking process
Middle wirerope does not have skidded with friction pulley, and brake allows for braking deceleration as expected and braked, and braking moment will
Dynamic characteristic is presented, due to this dynamic characteristic, braking moment needed for practical emergency braking process may be much larger than and set time system
The braking moment that dynamic device can be provided.
It is therefore proposed that a kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method, mentions practical mine
Dynamic brake force moment needed for rising during machine emergency braking is studied, and can be the design of brake, the control of braking system
Data basis is provided, while the influence for promoting parameter to braking moment can be probed into.
Summary of the invention
In order to solve the problems in background technique, the present invention provides a kind of km deep-well Hoist Emergency Braking torques
Dynamic characteristic calculation method provides data basis for the design of brake, the control of braking system and laboratory research, simultaneously
It can be studied for mine hoist emergency braking characteristics and data basis is provided.
In order to achieve the above technical purposes, the present invention adopts the following technical scheme:
A kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method, by each part quality of lifting system
It is indexed on friction pulley, establishes its simplified model, and establish the mathematical model for promoting torque；
According in the mathematical model of the promotion torque of foundation and braking process with friction pulley the tangent promoted, decentralization side steel
Cord dynamic tension obtains the mathematical model of braking moment Yu wirerope dynamic tension relationship；
It is established at friction pulley point of contact according to the mathematical model of braking moment and wirerope dynamic tension relationship and promotes side, decentralization
Side the Dynamic Tension in Hoisting Rope mathematical model；
Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at friction pulley point of contact by solving, acquisition was braked
Side, decline side the Dynamic Tension in Hoisting Rope are promoted in journey, by solving braking moment and wirerope dynamic tension relationship mathematical modulo
Type obtains Hoist Emergency Braking torque in braking process.
The mathematical model for promoting torque are as follows:
T+(F1-F2) R=M (1)
In formula: T- braking moment；
F1, F2- and friction pulley the tangent are promoted, transfer the quiet tension of side wirerope；
R- friction pulley radius；
M- lifting system moment of inertia.
It will be promoted in braking process with friction pulley the tangent, decentralization side wirerope dynamic tension substitutes into formula (1) and obtains required system
The mathematical model of kinetic moment and wirerope dynamic tension relationship are as follows:
T=(∑ ma- (S1-S2))·R (2)
In formula: ∑ m- lifting system net slip quality；
A- braking deceleration；
S1、S2It is promoted with friction pulley the tangent, decentralization side wirerope dynamic tension.
Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at the friction pulley point of contact are as follows:
Wherein:
In formula: g- acceleration of gravity, 9.8m/s2；
A- braking deceleration, 3.8m/s2；
The t- emergency braking time, when braking deceleration is transferred to container end by pendency boom hoist cable top point of contact
It is set as zero moment, s；
Boom hoist cable overhang length during l- emergency braking, long change of rope of dangling during emergency braking is to dynamic
Power S1、S2Influence is smaller, therefore two sides boom hoist cable overhang length is constant during assuming emergency braking；
α-boom hoist cable weight and end load ratio；
Spread speed of the C- elastic wave in pendency boom hoist cable, m/s；
E- boom hoist cable elasticity modulus；
A- boom hoist cable area of section；
ρ-every meter of boom hoist cable quality, kg/m；
ω-steel wire rope tension difference vibration frequency；
ψ-initial phase.
The lifting system net slip quality includes the quality summation of friction pulley, head sheave and rotor.
The method also includes by calculating the different wirerope promoted under quality, promotion speed and promotion acceleration
Dynamic tension and promotion torque obtain different improvement stage emergency brakings and promote side, decline side the Dynamic Tension in Hoisting Rope in the process
Hoist Emergency Braking torque develops during evolution properties and different improvement stage emergency brakings.
The utility model has the advantages that
The present invention is by establishing km deep-well braking torque for mine hoist base and wirerope dynamic tension relation mathematic model, friction
It takes turns and promotes side and decentralization side the Dynamic Tension in Hoisting Rope mathematical model at point of contact, calculate separately different promotion quality, promote speed
And promote the wirerope dynamic tension under acceleration and promote torque, obtain different improvement stages (accelerate, at the uniform velocity with deceleration rank
Section) it promotes side, decline side the Dynamic Tension in Hoisting Rope evolution properties and different improvement stages during emergency braking and promptly makes
Hoist Emergency Braking torque develops during dynamic.It can be the dynamic of braking moment needed for km deep-well Hoist Emergency Braking
Step response is studied, and the present invention can directly calculate in matlab program, is greatly reduced and is calculated the time.
Detailed description of the invention
Fig. 1 is mine hoisting system simplified model；
Fig. 2 is braking deceleration figure；
Fig. 3 is hoisting container rate curve；
Fig. 4 is that promotion and decentralization side wirerope dynamic tension are poor；
Fig. 5 is different promotion moment emergency braking torques；
Fig. 6 is different quality emergency braking torque, and (a) accelerates；(b) at the uniform velocity；(c) slow down；
Fig. 7 is different promotion acceleration emergency braking torques, and (a) accelerates；(b) at the uniform velocity；(c) slow down；
Fig. 8 is different maximum speed emergency braking torques, and (a) accelerates；(b) at the uniform velocity；(c) slow down.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
By each part quality of lifting system (hoisting container, boom hoist cable, tail rope, friction pulley, head sheave, rotor)
Be indexed on friction pulley, can establish its simplified model as shown in Figure 1, and establish promoted torque mathematical model are as follows:
T+(F1-F2) R=M (1)
In formula: T- braking moment；
F1, F2- and friction pulley the tangent are promoted, transfer the quiet tension of side wirerope；
R- friction pulley radius；
M- lifting system moment of inertia.
Further, in km deep-well lifting system braking process, boom hoist cable bears dynamic tension effect.It will system
It is promoted during dynamic with friction pulley the tangent, decentralization side wirerope dynamic tension S1、S2Substitution formula (1) obtain required braking moment with
The mathematical model of wirerope dynamic tension relationship are as follows:
T=(∑ ma- (S1-S2))·R (2)
In formula: ∑ m- lifting system net slip quality only considers the quality of friction pulley, head sheave and rotor in text；
A- braking deceleration.
S1、S2It is promoted with friction pulley the tangent, decentralization side wirerope dynamic tension；
During Winder Disk Brake emergency braking, urgent torque settling time is usually shorter, and makes after braking
Dynamic normal pressure is held essentially constant, therefore ignores braking moment settling time, it is assumed that emergency braking deceleration changes such as Fig. 2 institute
Show, further, establish at friction pulley point of contact and promote side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are as follows:
Wherein:
In formula: g- acceleration of gravity, 9.8m/s2；
A- braking deceleration, 3.8m/s2；
The t- emergency braking time, when braking deceleration is transferred to container end by pendency boom hoist cable top point of contact
It is set as zero moment, s；
Boom hoist cable overhang length during l- emergency braking, long change of rope of dangling during emergency braking is to dynamic
Power S1、S2Influence is smaller, therefore two sides boom hoist cable overhang length is constant during assuming emergency braking；
The ratio of α-boom hoist cable weight and end load (the sum of container, payload and weight of tail rope)；
Spread speed of the C- elastic wave in pendency boom hoist cable, m/s；
E- boom hoist cable elasticity modulus；
A- boom hoist cable area of section；
ρ-every meter of boom hoist cable quality, kg/m；
ω-steel wire rope tension difference vibration frequency；
ψ-initial phase.
Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at friction pulley point of contact by solving, acquisition was braked
Side, decline side the Dynamic Tension in Hoisting Rope are promoted in journey, by solving braking moment and wirerope dynamic tension relationship mathematical modulo
Type obtains Hoist Emergency Braking torque in braking process.
Further, the method also includes by calculating different promotion quality, promoting speed and promoting acceleration
Under wirerope dynamic tension and promote torque, obtain different improvement stages (accelerate, at the uniform velocity and decelerating phase) emergency braking process
Elevator during middle promotion side, decline side the Dynamic Tension in Hoisting Rope evolution properties and different improvement stage emergency brakings
Emergency braking torque develops.
With reference to certain domestic coal mine friction hoisting system parameter (see the table below), carry out hoisting depth 1000m, maximum lift
Speed 13m/s mine hoisting system emergency braking torque dynamic characteristic calculates, and hoisting container speed of service curve is as shown in Figure 3.
It is promoted and decentralization side wirerope dynamic tension S during emergency braking can be obtained by wirerope dynamic tension mathematical model1With
S2, and then the poor (S of two sides steel wire rope tension can be obtained1-S2) as shown in figure 4, three curves respectively correspond t=in Fig. 3 in figure
Tri- moment of 8.67s, 47.13s, 85.60s (respectively correspond acceleration, at the uniform velocity, slow down the improvement stage, i.e. A, B, C tri- in Fig. 3
Point).
As shown in Figure 4, since the different promotion moment promote the difference of speed, required braking time is different, constant velocity stage
It is maximum due to promoting speed, therefore required braking time longest.Difference promotes moment wirerope dynamic tension difference and dynamic spy is presented
Property, constant velocity stage's wirerope dynamic tension difference vibration frequency be less than accelerate and the decelerating phase, this is because
Boom hoist cable overhang length l reduces in lifting process, and transfers side boom hoist cable overhang length l increase, therefore
Increased according to wirerope dynamic tension vibration frequency in formula (9) promotion side braking process with the moment is promoted, and lower side vibration frequency
Then reduce, when two sides tension makes the difference, tension difference vibration frequency is determined by frequency the greater, therefore constant velocity stage's braking process steel
Cord dynamic tension difference vibration frequency is minimum；
Decelerating phase, it is shorter to promote side rope capacity, therefore promotion side wirerope dynamic tension vibration frequency is higher, but
It is larger due to promoting lateral terminal quality, dynamic of decentralization side when promoting side dynamic tension vibration frequency more identical rope capacity
Power is small, therefore decelerating phase wirerope dynamic tension difference vibration frequency is slightly less than the fluctuation of acceleration stage wirerope dynamic tension difference in Fig. 4
Frequency.It is big compared with decentralization side due to promoting side promotion load in lifting process, therefore brake initial time, i.e., lifting system is in and mentions
When rising with braking transition stage, promotes side wirerope dynamic tension and be greater than decentralization side, dynamic tension difference is positive value；But it is carried due to being promoted
The inertia of lotus, promoting side steel wire rope tension will reduce, and transferring side steel wire rope tension will increase, therefore it is poor to brake initial stage dynamic tension
It is on a declining curve.Accelerate, at the uniform velocity and decelerating phase braking tension difference variation range be respectively -286437-37932N, -
286680-39317N、-278586- 37077N。
Gained wirerope dynamic tension difference substitution emergency braking torque mathematical model is obtained into difference shown in Fig. 5 and promotes the moment
Emergency braking torque.As shown in Figure 5, due to the dynamic characteristic of steel wire rope tension, it is tight that km deep-well elevator difference promotes the moment
Dynamic characteristic is equally presented in anxious braking moment, and the identical rule of dynamic tension difference vibration frequency are presented in emergency braking torque vibration frequency
Rule accelerates to be greater than constant velocity stage with decelerating phase emergency braking torque vibration frequency.According to formula (2), emergency braking torque is big
Small changing rule and wirerope dynamic tension difference changing rule, with the increase of braking time, accelerate and slow down on the contrary, in event Fig. 5
Undulating ascendant trend is presented in stage emergency braking torque, and undulating downward trend is presented in constant velocity stage.Accelerate, at the uniform velocity and
In the decelerating phase, km deep-well Hoist Emergency Braking moment variations range is respectively 7.83 × 105-7.27×106N·m、7.55
×105-7.27×106N·m、 7.99×105-7.11×106N·m。
In order to probe into influence of the different promotion parameters to dynamic brake force moment characteristic, using the above method to following three
Example is analyzed.
Instance analysis 1
Change and promote quality, is i.e. change m2, respectively under promotion quality 16000kg, 24000kg and 31000 kg operating conditions
Km deep-well Hoist Emergency Braking torque carries out analysis comparison, probes into the influence for promoting quality to emergency braking torque.
Fig. 5 be different promotions quality under accelerate, at the uniform velocity and deceleration (t=8.67s, 47.13s, 85.60s) when elevator it is tight
Anxious braking moment.As seen from the figure, different to promote braking initial stage at moment, braking moment reduces with the increase for promoting quality.
This is because it is bigger to promote quality, then it is bigger to promote side steel wire rope tension, and transfers end unchanged, the then two sides steel wire that promotes quality
Poor (the S of rope tension1-S2) increase, thus the lifting system moment of inertia overcome at braking initial stage by wirerope dynamic tension difference
It is more, and then lead to the reduction of required braking moment.In Fig. 5, with the increase for promoting quality, decelerating phase Emergency Negative Thrust
The vibration frequency of square reduces.By formula (9) it is found that promotion quality is bigger, then wirerope dynamic tension vibration frequency ω is smaller, and tight
Anxious brake torque variation frequency is determined by promoting and transferring side wirerope dynamic tension vibration frequency the greater, that is, promotes initial rank
Section brake torque variation frequency is determined by transferring side wirerope dynamic tension vibration frequency, promotes end of a period graduated application torque fluctuations
Frequency is determined by promoting side wirerope dynamic tension vibration frequency；And it is all the same to transfer side container mass, therefore in Fig. 6 (a) not
With being promoted, emergency braking torque vibration frequency under quality is essentially identical, and Fig. 6 (b) is to promote initial transition stage to the end, no
Slightly has difference but unobvious with emergency braking torque vibration frequency under quality is promoted, Fig. 6 (c) is the decelerating phase, closest at this time
The moment of ending is promoted, therefore since the increase for promoting quality causes to promote the reduction of side wirerope dynamic tension vibration frequency and then leads
Cause the reduction of Hoist Emergency Braking torque fluctuations frequency.
Instance analysis 2
Change lifting system maximum acceleration of dynamic mine, it is 0.5m/s that comparative analysis, which promotes acceleration,2、0.75m/s2Shi Tisheng
Machine emergency braking torque develops, and probes into the influence for promoting acceleration to Hoist Emergency Braking torque.
Fig. 7 is to accelerate, at the uniform velocity and three improvement stage Hoist Emergency Braking torques of slowing down, and chooses different promotion acceleration
Spending the speed identical moment in lower three improvement stages compares, therefore different promoted accelerates in Fig. 7 under identical braking deceleration
It is identical to spend lower braking time.As shown in Figure 7, accelerate and slow down the improvement stage, promote acceleration 0.75m/s2When initial brake power
Square is slightly larger than promotion acceleration 0.5m/s2, and emergency braking torque evolution curve weight under two kinds of promotion acceleration of constant velocity stage
It closes.
Instance analysis 3
Changing elevator maximum lift speed is respectively that 8m/s, 10m/s, 13m/s probe into maximum lift speed to elevator
Emergency braking torque influences.
Fig. 8 be respectively under different maximum lift speed accelerate, at the uniform velocity, slow down three improvement stage center time point (corresponding diagrams
3 points of A, B, C in 3) Hoist Emergency Braking torque.Braking initial stage, acceleration and the decelerating phase smaller braking of maximum lift speed
Torque is bigger.Due under different maximum lift speed at the uniform velocity improvement stage center time point locate with hoisting depth 500m locate, therefore figure
Braking moment curve co-insides in 8 (b), but the braking time as needed for the difference of maximum lift speed is different, brakes in figure
M curve terminal corresponds to time difference.For different maximum lift speed, accelerating improvement stage center time point, maximum mentions
The more big corresponding hoisting depth of lifting speed is higher, and in the bigger corresponding promotion of improvement stage center time point maximum lift speed of slowing down
Height is lower, therefore is accelerating that maximum lift in presentation Fig. 8 is promoted the bigger brake torque variation frequency of speed with the decelerating phase
Smaller rule.
Claims (6)
1. a kind of km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method, which is characterized in that
Each part quality of lifting system is indexed on friction pulley, its simplified model is established, and establishes the mathematical modulo for promoting torque
Type；
It is dynamic according to being promoted in the mathematical model of the promotion torque of foundation and braking process with friction pulley the tangent, transferring side wirerope
Tension obtains the mathematical model of braking moment Yu wirerope dynamic tension relationship；
It is established at friction pulley point of contact according to the mathematical model of braking moment and wirerope dynamic tension relationship and promotes side, the promotion of decentralization side
Wirerope dynamic tension mathematical model；
Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at friction pulley point of contact by solving, and are obtained in braking process
Promote side, decline side the Dynamic Tension in Hoisting Rope is obtained by solving braking moment and wirerope dynamic tension relation mathematic model
Hoist Emergency Braking torque in braking process.
2. km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method according to claim 1, which is characterized in that
The mathematical model for promoting torque are as follows:
T+(F1-F2) R=M (1)
In formula: T- braking moment；
F1, F2- and friction pulley the tangent are promoted, transfer the quiet tension of side wirerope；
R- friction pulley radius；
M- lifting system moment of inertia.
3. km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method according to claim 2, which is characterized in that
Will in braking process with friction pulley the tangent promoted, decentralization side wirerope dynamic tension substitute into formula (1) obtain required braking moment with
The mathematical model of wirerope dynamic tension relationship are as follows:
T=(∑ ma- (S1-S2))·R (2)
In formula: ∑mLifting system net slip quality；
A- braking deceleration；
S1、S2It is promoted with friction pulley the tangent, decentralization side wirerope dynamic tension.
4. km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method according to claim 1, which is characterized in that
Side, decentralization side the Dynamic Tension in Hoisting Rope mathematical model are promoted at the friction pulley point of contact are as follows:
Wherein:
In formula: g- acceleration of gravity, 9.8m/s2；
A- braking deceleration, 3.8m/s2；
The t- emergency braking time is set as zero when braking deceleration is transferred to container end by pendency boom hoist cable top point of contact
Moment, s；
Boom hoist cable overhang length during l- emergency braking, long change of rope of dangling during emergency braking is to dynamic tension S1、S2
Influence is smaller, therefore two sides boom hoist cable overhang length is constant during assuming emergency braking；
α-boom hoist cable weight and end load ratio；
Spread speed of the C- elastic wave in pendency boom hoist cable, m/s；
E- boom hoist cable elasticity modulus；
A- boom hoist cable area of section；
ρ-every meter of boom hoist cable quality, kg/m；
ω-steel wire rope tension difference vibration frequency；
ψ-initial phase.
5. km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method according to claim 3, which is characterized in that
The lifting system net slip quality includes the quality summation of friction pulley, head sheave and rotor.
6. km deep-well Hoist Emergency Braking torque dynamic characteristic calculation method according to claim 1, which is characterized in that
The method also includes, by calculate it is different promoted quality, promoted speed and promoted acceleration under wirerope dynamic tensions with
Torque is promoted, different improvement stage emergency brakings is obtained and promotes side, decline side the Dynamic Tension in Hoisting Rope evolution properties in the process
And Hoist Emergency Braking torque develops during different improvement stage emergency brakings.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112591645A (en) * | 2020-12-03 | 2021-04-02 | 国网河南省电力公司新县供电公司 | Wire tightener and wire tightening method |
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