CN110472266B - Dynamic characteristic calculation method for emergency braking moment of kilometer deep well elevator - Google Patents
Dynamic characteristic calculation method for emergency braking moment of kilometer deep well elevator Download PDFInfo
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- CN110472266B CN110472266B CN201910552868.5A CN201910552868A CN110472266B CN 110472266 B CN110472266 B CN 110472266B CN 201910552868 A CN201910552868 A CN 201910552868A CN 110472266 B CN110472266 B CN 110472266B
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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 calculation method of dynamic characteristics of emergency braking torque of a kilometer deep well elevator, which comprises the steps of establishing a mathematical model of the lifting torque; according to the established mathematical model of the lifting moment and the lifting and lowering side steel wire rope dynamic tension at the tangent position of the friction wheel in the braking process, obtaining a mathematical model of the relation between the braking moment and the steel wire rope dynamic tension; establishing a mathematical model for lifting the dynamic tension of the steel wire rope at the lifting side and the lowering side at the tangent point of the friction wheel according to the mathematical model of the relation between the braking torque and the dynamic tension of the steel wire rope; and obtaining the hoisting wire rope dynamic tension of the hoisting side and the descending side in the braking process by solving a mathematical model of hoisting wire rope dynamic tension at the tangent point of the friction wheel, and obtaining the elevator emergency braking moment in the braking process by solving a mathematical model of the relation between the braking moment and the wire rope dynamic tension. The invention provides a data basis for the design of the brake, the control of the brake system and the laboratory research, and can provide a data basis for the research of the emergency braking characteristics of the mine hoist.
Description
Technical Field
The invention relates to a method for calculating dynamic characteristics of emergency braking torque of a kilometer deep well hoist, and belongs to the field of mine hoist calculation methods.
Background
The multi-rope friction type elevator is widely applied to deep well and ultra-deep mine (> 1000 m) lifting operation due to the advantages of light weight, small volume, convenient operation, large lifting capacity and the like, and is responsible for important tasks such as lifting coal, lowering materials, lifting personnel and equipment and the like, so that the reliability of the operation has important influence on the safe and efficient production of coal mines. The disc brake has the advantages of stable braking, easy control, capability of providing a larger range of braking torque and the like, so that the disc brake is widely applied to the field of mine hoist braking. As a key component of the mine hoist, the disc brake is the last guarantee of stopping the operation of the hoisting system in an emergency, the brake must reach a preset braking moment and braking deceleration under any emergency braking working condition, and whether the timely emergency braking can be realized in the hoisting process plays a decisive role in the working reliability of the hoist and the safety production of a coal mine.
However, in an actual emergency braking process of the elevator, the tension of the steel wire rope presents dynamic characteristics, and the brake must be capable of braking according to an expected braking deceleration provided that the steel wire rope and the friction wheel do not slip in the braking process, and the braking torque presents dynamic characteristics, and due to the dynamic characteristics, the braking torque required in the actual emergency braking process may be far greater than the braking torque provided by the brake in design.
Therefore, the dynamic characteristic calculation method for the emergency braking moment of the kilometer deep well hoist is provided, the dynamic braking moment required in the emergency braking process of the actual mine hoist is researched, a data basis can be provided for the design of a brake and the control of a braking system, and meanwhile, the influence of lifting parameters on the braking moment can be explored.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a method for calculating the dynamic characteristics of emergency braking moments of a kilometer deep well hoist, which provides a data basis for the design of a brake, the control of a braking system and the research of a laboratory, and simultaneously provides a data basis for the research of the emergency braking characteristics of the mine hoist.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a dynamic characteristic calculation method of emergency braking moment of a kilometer deep well hoist shifts the mass of each part of a hoisting system onto a friction wheel, establishes a simplified model of the hoisting system, and establishes a mathematical model of the hoisting moment;
according to the established mathematical model of the lifting moment and the lifting and lowering side steel wire rope dynamic tension at the tangent position of the friction wheel in the braking process, obtaining a mathematical model of the relation between the braking moment and the steel wire rope dynamic tension;
establishing a mathematical model for lifting the dynamic tension of the steel wire rope at the lifting side and the lowering side at the tangent point of the friction wheel according to the mathematical model of the relation between the braking torque and the dynamic tension of the steel wire rope;
and obtaining the hoisting wire rope dynamic tension of the hoisting side and the descending side in the braking process by solving mathematical models of the hoisting wire rope dynamic tension of the hoisting side and the descending side at the tangent point of the friction wheel, and obtaining the elevator emergency braking moment in the braking process by solving mathematical models of the braking moment and the wire rope dynamic tension.
The mathematical model of the lifting moment is as follows:
T+(F 1 -F 2 )·R＝M (1)
wherein: t-braking torque;
f1, F2-lifting and lowering the static tension of the side steel wire rope at the tangent position of the friction wheel;
r-friction wheel radius;
m-lift system moment of inertia.
Substituting the hoisting and releasing side steel wire rope dynamic tension at the tangent position of the friction wheel in the braking process into the mathematical model of the relation between the required braking moment and the steel wire rope dynamic tension obtained by the substitution formula (1) is as follows:
T＝(∑m·a-(S 1 -S 2 ))·R (2)
wherein: sigma m-improving the total deflection quality of the system;
a-braking deceleration;
S 1 、S 2 -lifting and lowering the side wire rope tension at a tangent to the friction wheel.
The hoisting wire rope dynamic tension mathematical model at the tangent point of the friction wheel at the hoisting side and the lowering side is as follows:
wherein:
wherein: g-gravity acceleration of 9.8m/s 2 ；
a-brake deceleration of 3.8m/s 2 ；
t-emergency braking time, namely setting the braking deceleration to be zero when the braking deceleration is transmitted to the container end from the tangent point of the top end of the suspension lifting steel wire rope, and s;
lifting the suspension length of the steel wire rope in the process of l-emergency braking, and changing the suspension length to the dynamic tension S in the process of emergency braking 1 、S 2 The influence is small, so that the suspension length of the hoisting steel wire ropes at two sides is assumed to be constant in the emergency braking process;
the ratio of the weight of the alpha-hoisting wire rope to the end load;
the propagation speed of the C-elastic wave in the suspension hoisting steel wire rope, m/s;
e-improving the elastic modulus of the steel wire rope;
a is used for lifting the cross section area of the steel wire rope;
rho-lifting the mass of the steel wire rope per meter, kg/m;
omega-wire rope tension difference fluctuation frequency;
psi-initial phase.
The total deflection mass of the lifting system comprises the mass sum of the friction wheel, the head sheave and the motor rotor.
The method further comprises the step of obtaining the dynamic tension evolution characteristics of the hoisting side and the descending side hoisting steel wire rope in the emergency braking process in different hoisting stages and the emergency braking moment evolution of the hoisting machine in the emergency braking process in different hoisting stages by calculating the dynamic tension and the hoisting moment of the steel wire rope under different hoisting masses, hoisting speeds and hoisting accelerations.
The beneficial effects are that:
according to the invention, by establishing a mathematical model of the relation between braking torque of the deep well hoist and dynamic tension of the steel wire rope and a mathematical model of dynamic tension of the hoisting steel wire rope at the hoisting side and the lowering side at the tangent point of the friction wheel, different hoisting masses, hoisting speeds and dynamic tension and hoisting torque of the steel wire rope under hoisting accelerations are calculated respectively, and the dynamic tension evolution characteristics of the hoisting side and the lowering side in the emergency braking process of different hoisting stages (acceleration, uniform speed and deceleration stage) and the emergency braking torque evolution of the hoist in the emergency braking process of different hoisting stages are obtained. The invention can be used for researching the dynamic characteristics of the braking torque required by emergency braking of the kilometer deep well elevator, and can directly calculate in a matlab program, thereby greatly reducing the calculation time.
Drawings
FIG. 1 is a simplified model of a mine hoist system;
FIG. 2 is a braking deceleration map;
FIG. 3 is a graph of lift vessel speed;
FIG. 4 is a differential tension between the hoisting and lowering side wire ropes;
FIG. 5 is an emergency braking torque at different lifting moments;
FIG. 6 is a different mass emergency braking torque, (a) acceleration; (b) at a constant speed; (c) decelerating;
FIG. 7 is a graph of various boost acceleration emergency braking moments, (a) acceleration; (b) at a constant speed; (c) decelerating;
FIG. 8 is a graph of different maximum speeds of emergency braking torque, (a) acceleration; (b) at a constant speed; (c) decelerating.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The mass of each component of the lifting system (lifting container, lifting steel wire rope, tail rope, friction wheel, head sheave and motor rotor) is shifted to the friction wheel, a simplified model of the lifting system can be built as shown in figure 1, and a mathematical model of lifting moment is built as follows:
T+(F 1 -F 2 )·R＝M (1)
wherein: t-braking torque;
f1, F2-lifting and lowering the static tension of the side steel wire rope at the tangent position of the friction wheel;
r-friction wheel radius;
m-lift system moment of inertia.
Further, in the braking process of the kilometer deep well lifting system, the lifting steel wire rope bears the action of dynamic tension. Lifting and lowering side steel wire rope dynamic tension S at the tangent position of friction wheel in braking process 1 、S 2 Substituting the mathematical model of the relation between the required braking torque and the dynamic tension of the steel wire rope obtained by the substitution formula (1) is as follows:
T＝(∑m·a-(S 1 -S 2 ))·R (2)
wherein: sigma m-the total deflection mass of the lifting system, wherein only the mass of the friction wheel, the head sheave and the motor rotor are considered;
a-braking deceleration.
S 1 、S 2 -lifting and lowering the side wire rope dynamic tension at a tangent to the friction wheel;
in the emergency braking process of the disc brake of the elevator, the emergency moment building time is generally short, and the braking positive pressure after braking is basically kept constant, so that the brake moment building time is ignored, the emergency braking deceleration degree change is assumed to be as shown in fig. 2, and further, a mathematical model of the lifting wire rope dynamic tension at the tangent point of the friction wheel is built as follows:
wherein:
wherein: g-gravity acceleration of 9.8m/s 2 ；
a-brake deceleration of 3.8m/s 2 ；
t-emergency braking time, when braking deceleration is transmitted to the container end from the tangent point of the top end of the suspension lifting steel wire rope, setting zero time, s;
lifting the suspension length of the steel wire rope in the process of l-emergency braking, and changing the suspension length to the dynamic tension S in the process of emergency braking 1 、S 2 The influence is small, so that the suspension length of the lifting steel wire ropes at two sides in the emergency braking process is assumed to be constant;
the ratio of the α -hoisting rope weight to the end load (sum of the weight of the vessel, payload and tail rope);
the propagation speed of the C-elastic wave in the suspension hoisting steel wire rope, m/s;
e-improving the elastic modulus of the steel wire rope;
a is used for lifting the cross section area of the steel wire rope;
rho-lifting the mass of the steel wire rope per meter, kg/m;
omega-wire rope tension difference fluctuation frequency;
psi-initial phase.
And obtaining the hoisting wire rope dynamic tension of the hoisting side and the descending side in the braking process by solving a mathematical model of hoisting wire rope dynamic tension at the tangent point of the friction wheel, and obtaining the elevator emergency braking moment in the braking process by solving a mathematical model of the relation between the braking moment and the wire rope dynamic tension.
Further, the method further comprises the step of obtaining the dynamic tension evolution characteristics of the hoisting side and the descending side hoisting steel wire rope in the emergency braking process of different hoisting stages (acceleration, uniform speed and deceleration stages) and the emergency braking moment evolution of the elevator in the emergency braking process of different hoisting stages by calculating the dynamic tension and the hoisting moment of the steel wire rope at different hoisting masses, different hoisting speeds and different hoisting acceleration speeds.
And (3) referring to parameters (see a table below) of a friction type lifting system of a certain coal mine in China, carrying out dynamic characteristic calculation of emergency braking moment of the lifting system of the mine with the lifting height of 1000m and the maximum lifting speed of 13m/s, and the operation speed curve of the lifting container is shown in figure 3.
The wire rope dynamic tension S at the lifting and lowering side in the emergency braking process is obtained by a wire rope dynamic tension mathematical model 1 And S is 2 Further, the tension difference of the steel wire ropes at two sides can be obtained (S 1 -S 2 ) As shown in fig. 4, the three curves in the figure correspond to three moments (corresponding to the acceleration, uniform velocity and deceleration lifting stages, namely, three points A, B, C in fig. 3) of t=8.67 s, 47.13s and 85.60s in fig. 3, respectively.
As can be seen from fig. 4, the braking time required is different due to the difference of the lifting speed at different lifting moments, and the braking time required is the longest due to the maximum lifting speed at the uniform speed stage. The dynamic characteristics of the dynamic tension differences of the steel wire rope at different lifting moments are shown, and the fluctuation frequency of the dynamic tension differences of the steel wire rope at a constant speed stage is smaller than that at an acceleration stage and a deceleration stage, because
The suspension length l of the lifting steel wire rope is reduced in the lifting process, and the suspension length l of the lifting steel wire rope at the lowering side is increased, so that the fluctuation frequency of the dynamic tension of the steel wire rope in the braking process at the lifting side is increased along with the lifting moment according to the step (9), the fluctuation frequency of the dynamic tension of the steel wire rope at the lower side is reduced, and when the tension at the two sides is poor, the fluctuation frequency of the tension difference is determined by the larger frequency, so that the fluctuation frequency of the dynamic tension difference of the steel wire rope in the braking process at the uniform speed stage is minimum;
in the deceleration stage, the length of the lifting side steel wire rope is shorter, so that the fluctuation frequency of the dynamic tension of the lifting side steel wire rope is higher, but because the terminal mass of the lifting side is larger, the fluctuation frequency of the dynamic tension of the lifting side is smaller than that of the lowering side when the same steel wire rope length is used, and therefore, the fluctuation frequency of the dynamic tension difference of the steel wire rope in the deceleration stage in fig. 4 is slightly smaller than that of the dynamic tension difference of the steel wire rope in the acceleration stage. In the lifting process, the lifting load of the lifting side is larger than that of the lowering side, so that the initial braking moment, namely the lifting system is in a lifting and braking transition stage, the dynamic tension of the steel wire rope of the lifting side is larger than that of the lowering side, and the dynamic tension difference is a positive value; however, due to the inertia of the lifting load, the tension of the lifting side wire rope will decrease, and the tension of the lowering side wire rope will increase, so that the initial braking tension difference tends to decrease. The variation ranges of the braking tension differences in the acceleration stage, the uniform speed stage and the deceleration stage are-286437-37932N, -286680-39317N, -278586-37077N respectively.
Substituting the obtained wire rope dynamic tension difference into an emergency braking moment mathematical model to obtain the emergency braking moment at different lifting moments shown in fig. 5. As can be seen from fig. 5, due to the dynamic characteristics of the tension of the steel wire rope, the emergency braking moment of the kilometer deep well hoist at different lifting moments also presents dynamic characteristics, and the fluctuation frequency of the emergency braking moment presents the same law of fluctuation frequency of the dynamic tension difference, namely, the fluctuation frequency of the emergency braking moment in the acceleration and deceleration stages is greater than that in the uniform speed stage. According to formula (2), the change rule of the emergency braking torque is opposite to the change rule of the wire rope dynamic tension difference, so in fig. 5, the emergency braking torque in the acceleration and deceleration stages shows a fluctuation-like ascending trend and the emergency braking torque in the uniform speed stage shows a fluctuation-like descending trend with the increase of the braking time. Acceleration ofThe emergency braking moment change ranges of the kilometer deep well hoist at the constant speed and the deceleration stage are 7.83 multiplied by 10 respectively 5 -7.27×10 6 N·m、7.55×105-7.27×10 6 N·m、 7.99×10 5 -7.11×10 6 N·m。
To explore the effect of different boost parameters on dynamic braking torque characteristics, the following three examples were analyzed using the methods described above.
Changing the lifting mass, i.e. changing m 2 And (3) respectively analyzing and comparing the emergency braking moments of the deep well hoist with the lifting quality of 16000kg, 24000kg and 31000 and kg under the working conditions, and exploring the influence of the lifting quality on the emergency braking moment.
Fig. 5 shows the emergency braking torque of the lifter during acceleration, uniform speed and deceleration (t=8.67 s, 47.13s and 85.60 s) under different lifting masses. From the graph, the braking torque decreases with the increase of the lifting mass at the initial braking stage of different lifting moments. This is because the greater the lifting mass, the greater the tension of the wire rope on the lifting side, while the tension difference of the wire rope on both sides is maintained without changing the lifting mass at the lowering end (S 1 -S 2 ) The larger the moment of inertia of the hoisting system is overcome at the initial stage of braking due to the difference of the tension of the steel wire rope, the more the moment of inertia is, and the required braking moment is reduced. In fig. 5, the frequency of fluctuation of the emergency braking torque decreases in the deceleration stage as the lifting mass increases. As can be seen from the step (9), the greater the lifting quality is, the smaller the fluctuation frequency omega of the wire rope dynamic tension is, and the emergency braking moment fluctuation frequency is determined by the larger fluctuation frequency of the lifting and lowering side wire rope dynamic tension, namely, the braking moment fluctuation frequency in the initial stage of lifting is determined by the fluctuation frequency of the lowering side wire rope dynamic tension, and the braking moment fluctuation frequency in the final stage of lifting is determined by the fluctuation frequency of the lifting side wire rope dynamic tension; the container on the lowering side has the same mass, so the emergency braking moment fluctuation frequency is basically the same under different lifting masses in fig. 6 (a), the emergency braking moment fluctuation frequency is slightly different but not obvious under different lifting masses in fig. 6 (b) for the transition stage from the initial stage to the final stage, and the emergency braking moment fluctuation frequency is the deceleration stage in fig. 6 (c), and is closest to the final moment of lifting, so the emergency braking moment fluctuation frequency is due to the lifting massesThe increase of (2) leads to the decrease of the fluctuation frequency of the dynamic tension of the steel wire rope at the lifting side and further leads to the decrease of the fluctuation frequency of the emergency braking moment of the elevator.
Changing the maximum lifting acceleration of the lifting system, and comparing and analyzing the lifting acceleration to be 0.5m/s 2 、0.75m/s 2 And when the emergency braking moment of the elevator evolves, the influence of the lifting acceleration on the emergency braking moment of the elevator is explored.
Fig. 7 shows the emergency braking moment of the elevator in three lifting stages of acceleration, uniform speed and deceleration, and the same speed in the three lifting stages under different lifting accelerations is selected for comparison, so that the braking time is the same under different lifting accelerations in fig. 7 under the same braking deceleration. As can be seen from FIG. 7, the acceleration and deceleration stages of the lift are performed at a lift acceleration of 0.75m/s 2 When the initial braking moment is slightly larger than the lifting acceleration by 0.5m/s 2 And the two emergency braking moment evolution curves under the lifting acceleration at the constant speed stage are overlapped.
The influence of the maximum lifting speed of the elevator on the emergency braking moment of the elevator is explored by changing the maximum lifting speed of the elevator to be 8m/s, 10m/s and 13m/s respectively.
Fig. 8 shows the emergency braking moment of the elevator at the time midpoints (corresponding to the three points A, B, C in fig. 3) of the three lifting stages of acceleration, uniform speed and deceleration at different maximum lifting speeds. In the initial stage of braking, the smaller the maximum lifting speed of the acceleration and deceleration stages is, the larger the braking moment is. The braking moment curves in fig. 8 (b) are overlapped because the middle points of the uniform lifting phase time are all at the lifting height of 500m under different maximum lifting speeds, but the corresponding time of the braking moment curve end points in the diagrams is different because the braking time required by the different maximum lifting speeds is different. For different maximum lifting speeds, the larger the maximum lifting speed is, the higher the lifting height is corresponding to in the time midpoint of the acceleration lifting stage, and the larger the maximum lifting speed is, the lower the lifting height is corresponding to in the time midpoint of the deceleration lifting stage, so that the rule that the larger the maximum lifting speed is, the smaller the fluctuation frequency of the braking moment is in the acceleration and deceleration stages shown in fig. 8.
Claims (3)
1. A method for calculating dynamic characteristics of emergency braking moment of a kilometer deep well elevator is characterized in that,
shifting the mass of each part of the lifting system onto a friction wheel, establishing a simplified model of the lifting system, and establishing a mathematical model of lifting moment;
according to the established mathematical model of the lifting moment and the lifting and lowering side steel wire rope dynamic tension at the tangent position of the friction wheel in the braking process, obtaining a mathematical model of the relation between the braking moment and the steel wire rope dynamic tension;
establishing a mathematical model for lifting the dynamic tension of the steel wire rope at the lifting side and the lowering side at the tangent point of the friction wheel according to the mathematical model of the relation between the braking torque and the dynamic tension of the steel wire rope;
the hoisting wire rope dynamic tension mathematical model of the hoisting side and the lowering side at the tangent point of the friction wheel is solved, the hoisting wire rope dynamic tension of the hoisting side and the lowering side in the braking process is obtained, and the emergency braking moment of the elevator in the braking process is obtained by solving the braking moment and the wire rope dynamic tension relation mathematical model;
the mathematical model of the lifting moment is as follows:
T+(F 1 -F 2 )·R＝M (1)
wherein: t-braking torque;
f1 and F2, lifting and lowering the static tension of the side steel wire rope at the tangent position of the friction wheel;
r is the radius of the friction wheel;
m is the moment of inertia of the lifting system;
substituting the hoisting and releasing side steel wire rope dynamic tension at the tangent position of the friction wheel in the braking process into the mathematical model of the relation between the required braking moment and the steel wire rope dynamic tension obtained by the substitution formula (1) is as follows:
T＝(∑m·a-(S 1 -S 2 ))·R (2)
wherein: sigma (sigma) m -improving the total deflection mass of the system;
a-braking deceleration;
S 1 、S 2 lifting and lowering the dynamic tension of the side steel wire rope at the tangent position of the friction wheel;
the hoisting wire rope dynamic tension mathematical model at the tangent point of the friction wheel at the hoisting side and the lowering side is as follows:
wherein:
wherein: g-gravity acceleration, 9.8m/s 2 ；
a-braking deceleration of 3.8m/s 2 ；
t-emergency braking time, when braking deceleration is transmitted to the container end from the tangent point of the top end of the suspension lifting steel wire rope, setting zero time, s;
l-the suspension length of the hoisting wire rope in the emergency braking process, and the suspension rope length change in the emergency braking process is used for controlling the dynamic tension S 1 、S 2 The influence is small, so that the suspension length of the hoisting steel wire ropes at two sides is assumed to be constant in the emergency braking process;
alpha-ratio of hoisting rope weight to end load;
c, the propagation speed of elastic waves in the suspension hoisting steel wire rope, m/s;
e, improving the elastic modulus of the steel wire rope;
a, lifting the cross-sectional area of the steel wire rope;
ρ -the mass per meter of the wire rope kg/m;
omega-fluctuation frequency of the tension difference of the steel wire rope;
psi—initial phase.
2. The method for calculating the emergency braking moment dynamic characteristics of the kilometer deep well hoist according to claim 1, wherein the method comprises the steps of,
the total deflection mass of the lifting system comprises the mass sum of the friction wheel, the head sheave and the motor rotor.
3. The method for calculating the dynamic characteristics of the emergency braking torque of the kilometer deep well elevator according to claim 1, further comprising the step of obtaining the dynamic tension evolution characteristics of the hoisting side and the descending side hoisting wire rope in the emergency braking process in different hoisting stages and the emergency braking torque evolution of the elevator in the emergency braking process in different hoisting stages by calculating the wire rope dynamic tension and the hoisting torque under different hoisting masses, hoisting speeds and hoisting accelerations.
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