CN113536571B - Dynamics modeling method and system for mine multi-rope winding type hoist and storage medium - Google Patents
Dynamics modeling method and system for mine multi-rope winding type hoist and storage medium Download PDFInfo
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Abstract
The invention discloses a dynamic modeling method and a dynamic modeling system for a mine multi-rope winding type hoist and a storage medium. Finally, a time-varying, nonlinear and coupled high-fidelity kinetic equation is obtained. The method provided by the invention considers the physical properties of each component of the whole system and the coupling effect among the components, and is used for revealing the vibration mechanism of the whole system, guiding the design of a structure and a controller. The three-dimensional vibration coupling effect of the lifting rope, the three-dimensional motion and the three-dimensional rotation of the cage and the coupling between the cage and the flexible cage guide are considered, so that the model is more real. The method is coupled through force and displacement, and the modeling method is simpler and more visual.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a high-fidelity dynamics modeling method and system for a multi-rope winding type flexible cage guide elevator based on a three-dimensional ultra-deep mine and a storage medium.
Background
In the past decades, the multi-rope winding type ultra-deep hoister is widely applied to the mining of gold ores and diamond ores, and has the characteristics of small roller, thin steel wire rope and high efficiency. In recent years, coal mining is increasingly deeper and deeper, the lifting is faster and faster, the efficiency is increasingly developed, and the multi-rope winding type ultra-deep hoister is increasingly emphasized in coal mining. But the system is a strongly coupled, time-varying, nonlinear, distributed system. High speed lift and some minor imbalance factors will cause severe vibration of the entire system. This can lead to premature fatigue failure of the lift system and the occurrence of an accident. On the other hand, to suppress the extra vibration of the hoisting system, efficient controller design needs to be guided according to accurate dynamic models. Therefore, a high-fidelity dynamic model is required to be established for revealing the vibration mechanism of the system and guiding the design of the structure and the controller.
In practical situations, in order to reduce cost and improve efficiency, flexible guide ways which are convenient to install, generally two symmetrical tight steel wire ropes, are often adopted. The flexible cage guide is generally low in lateral rigidity, when a cage fully loaded with goods slides on the cage guide, the elevator system can generate complex coupling vibration with the cage, and the difficulty of dynamic analysis of the elevator system is further deepened. Therefore, a high-fidelity dynamic modeling method based on the three-dimensional ultra-deep mine multi-rope winding type flexible cage guide hoister is urgently needed.
Disclosure of Invention
In view of the above, the invention aims to provide a high-fidelity dynamics modeling method for a multi-rope winding type flexible cage guide elevator based on a three-dimensional ultra-deep mine, which is suitable for dynamics analysis, guidance of structural design and controller design of the multi-rope winding type flexible cage guide elevator in the deep mine.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a dynamic modeling method based on a mine multi-rope winding type hoister, which comprises the following steps:
determining each subsystem in the elevator system, wherein the subsystems comprise a lifting rope system, a cage system and a cage guide system;
determining the dynamic characteristics and the mechanical principle of each subsystem;
establishing a dynamic model of each subsystem according to dynamic characteristics and a mechanical principle, wherein the dynamic model comprises a hoisting rope dynamic model, a cage dynamic model and a cage way dynamic model;
the hoisting rope system, the cage system and the cage guide system are coupled by displacement and force as boundary conditions of the dynamic model.
Further, the dynamic model of the hoisting rope is established according to the following steps:
and taking the lifting rope as a rope model without bending rigidity, and establishing a dynamic equation of a lifting rope system, wherein the dynamic equation of the lifting rope system comprises a vibration equation of a suspension rope, a vibration equation of a vertical rope and a vibration equation of a head sheave.
Further, the dynamic model of the hoisting rope is established according to the following steps:
describing the dynamic characteristics of the rope in an absolute coordinate system, and writing the kinetic energy and potential energy of a lifting rope system according to the three-dimensional vibration of the lifting rope;
writing the energy dissipation of the hoisting rope system according to the viscous damping model;
and finally, obtaining a dynamic equation of the hoisting rope system under the boundary condition of 0 by adopting a Hamilton principle.
Further, the cage kinetic model is established according to the following steps:
establishing a connected base coordinate system above a mass center by taking the cage as a rigid body, and representing inertia parameters by using a mass and inertia matrix; and writing a kinetic equation of the cage in a fixed coordinate system according to the Newton Euler equation.
Further, the cage guide dynamic model is established according to the following steps:
and (3) taking the cage guide as a tight steel wire rope, and establishing a dynamic model of the 0 boundary condition of the cage guide by adopting chord model analysis.
Further, the coupling of the hoisting rope system, the cage system and the cage guide system is realized by the following modes:
determining the force applied to the cage by the cage guide and the force applied to the cage by the vertical rope;
determining the displacement of a contact point of the cage and the cage guide and the displacement of the contact point of the cage and the vertical rope;
and determining the mutual friction force between the cage and the cage guide, wherein the mutual friction force is a dry friction model, and the magnitude of the friction force is in direct proportion to the acting force between the cage and the cage guide.
Further, the vibration equation of the suspension ropes of the hoisting rope system is specifically as follows:
the vibration equation of the vertical rope is as follows:
the vibration equation of the head sheave is specifically as follows:
wherein a fixed coordinate system O c x c y c z c Describing the vibration of the suspension rope, fixed coordinate system O v x v y v z v The length of the suspension rope is L c The time-varying length of the rope is L v (t)；
Three-directional vibration of the suspension rope is respectively u ci ，w ci ，v ci At O c x c y c z c Carrying out representation;
three-direction vibration of the hanging rope respectively uses u vi ，w vi ，v vi At O v x v y v z v Carrying out representation;
i =1 or 2 is the number of the hoisting rope;
l i0 ，l i1- ，l i1+ ，l i2 respectively showing the starting point of the suspension rope, the end point of the suspension rope, the starting point of the vertical rope and the end point of the vertical rope;
rho, E, A and g are respectively the linear density, young modulus, equivalent sectional area and gravitational acceleration of the lifting rope;
J s ，R s the moment of inertia and the effective radius of the head sheave are respectively;
E k1 representing the hoisting rope system kinetic energy;
E P1 representing the potential energy of the hoisting rope system;
c uc ，c wc ，c vc ，c uv ，c wv ，c vv respectively representing the equivalent damping coefficients of the suspension ropes in all directions;
v represents a lift target speed that varies with time;
θ represents the tilt angle of the suspension rope;
T ci ，T vi respectively representing the quasi-static tension of the ith suspension rope and the quasi-static tension of the ith suspension rope along with the change of the position.
Further, the kinetic equation of the cage system kinetic model is as follows:
wherein a connected base coordinate system O fixed at the center of mass of the cage m x m y m z m ；
Sigma F and sigma M are resultant force received by the cage in a fixed coordinate system and resultant moment received by the cage in a mass center coordinate system respectively;
m represents the mass of the cage;
J cage a rotational inertia matrix representing the cage;
U cage representing the center of mass of the cage in a fixed coordinate system O v x v y v z v X-direction displacement in (1);
ω cage indicating the cage in a connected base coordinate system O m x m y m z m Angular velocity vector of (1);
or
The dynamic equation of the cage guide dynamic model is as follows:
wherein, c gv ，c gw ，ρ g ，
Respectively are equivalent damping coefficients of the cage guide in the y direction; equivalent damping coefficient in Z direction, cage guideLinear density of cage guide, internal tension of cage guide.
The dynamics modeling system based on the mine multi-rope winding type hoister comprises a memory and a processor, wherein executable codes are stored in the memory, and the processor executes the executable codes to realize the method.
The present invention provides a storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the above-described method.
The invention has the beneficial effects that:
the high-fidelity dynamics modeling method based on the three-dimensional space ultra-deep mine multi-rope winding type flexible cage guide elevator considers the physical properties of all components of the whole system and the coupling effect among all the components, and is used for revealing the vibration mechanism of the whole system and guiding the design of a structure and a controller.
The method comprises the steps of regarding a lifting rope as a rope model without bending stiffness, considering the nonlinear coupling effect of three-way vibration of the rope, analyzing by adopting Lagrange-Strain, adopting equivalent viscous damping for damping, describing the vibration of the rope by adopting a fixed coordinate system, and obtaining a dynamic equation by using a Hamilton principle (Hamilton principal). The cage is regarded as a rigid body, which has the properties of mass and moment of inertia, and the equation of motion of the cage is obtained by adopting the Newton's Euler method. The cage guide is considered to be a tight wire rope, and dry friction is introduced between the cage and the cage guide by adopting chord model analysis. The hoist rope system, the cage system and the cage guide system are coupled by displacement and force, i.e. the hoist rope and the cage guide exert force on the cage, and the cage motion exerts displacement on the hoist rope and the cage guide. Finally, a time-varying, nonlinear and coupled high-fidelity kinetic equation is obtained. Used for researching the dynamic response of the whole system, revealing the dynamic mechanism, guiding the structure and designing the controller
Compared with the prior art, the invention has the beneficial effects that:
1) The three-dimensional vibration coupling effect of the lifting rope is considered, the three-dimensional movement and the three-dimensional rotation of the cage are considered, the coupling between the cage and the flexible cage guide is considered, and the model is more real.
2) The model can take the more comprehensive external action, namely the three-dimensional boundary condition at the roller, particularly the boundary condition of the suspension rope which moves back and forth along the roller greatly, and also can take the more comprehensive three-dimensional eccentric action of the cage into consideration.
3) According to the method, the model is firstly decomposed into a plurality of subsystems, and then coupling is carried out through force and displacement, so that the modeling method is simpler and more visual.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:
fig. 1 is a schematic view of a typical multi-rope wrap-around ultra-deep flexible cage guide hoist.
Fig. 2 is a schematic diagram of the coupling relationship between the subsystems.
Fig. 3 is a schematic view of a cage.
Detailed Description
The present invention is further described below in conjunction with the drawings and the embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.
Example 1
The high-fidelity dynamics modeling method based on the three-dimensional space ultra-deep mine multi-rope winding type flexible cage guide hoist provided by the embodiment comprises the following steps of:
the whole system is divided into a plurality of subsystems from the physical component level, and the subsystems generally mainly comprise three systems, namely a lifting rope, a cage and a cage guide. The hoisting rope system comprises a suspension rope, a head sheave and a vertical rope.
Respectively modeling each subsystem by using 0 boundary conditions, specifically as follows:
modeling a lifting rope system, describing the dynamic characteristics of a rope in an absolute coordinate system, and writing the kinetic energy and potential energy of the lifting rope system by considering the three-dimensional vibration of the lifting rope. The energy dissipation of the hoisting rope system is written according to the viscous damping model. And finally, obtaining a kinetic equation of the subsystem under the boundary condition of 0 by adopting a Hamiltonian principle.
The method comprises the steps of regarding a lifting rope as a rope model without bending stiffness, considering the nonlinear coupling effect of three-way vibration of the rope, analyzing by adopting Lagrange-stress, adopting equivalent viscous damping for damping, describing the vibration of the rope by adopting a fixed coordinate system, and obtaining a dynamic equation of the rope by using a Hamilton principle (Hamilton principle).
The cage is regarded as a rigid body, a connected base coordinate system above the mass center is established, and the inertia parameters are expressed by mass and inertia matrixes. And writing a kinetic equation of the cage in a fixed coordinate system according to the Newton Euler equation.
The cage guide is regarded as a tight steel wire rope, the bending resistance of the steel wire rope is neglected, a string vibration model is adopted, a dynamic model of the 0 boundary condition of the cage guide is established, and dry friction is introduced between the cage and the cage guide.
The hoisting rope system, the cage system and the cage guide system are coupled by adopting displacement and force, namely the hoisting rope and the cage guide exert force on the cage, the cage generates displacement after force action and acts on the vertical rope and the cage guide, and the displacement is used as the boundary condition of the vertical rope system and the cage guide system.
The boundary condition of the suspension rope at the drum is applied.
Finally, a time-varying, nonlinear and coupled high-fidelity kinetic equation is obtained. The method is used for researching the dynamic response of the whole system, revealing the dynamic mechanism, and guiding the structure and controller design.
In the hoisting rope system provided by the embodiment, two absolute coordinate systems are arranged, one absolute coordinate system is used for describing the vibration of the suspension rope, and the origin of the absolute coordinate system is positioned in the middle of the tangent positions of the plurality of rollers and the suspension rope; and the other is used for describing the vibration of the vertical rope, and the origin of the vibration is positioned in the middle of the tangent point position of the plurality of head pulleys and the vertical rope.
In the case of multi-system coupling, the contact point of the cage with the guide is considered to be a point contact, i.e. the contact point of the cage with the guide has the same lateral displacement. In order to more accurately reflect the dynamic characteristics of the system, the mutual friction between the cage and the cage guide is considered, and a dry friction model is generally adopted, wherein the magnitude of the friction is proportional to the acting force between the cage and the cage guide. In order to more accurately reflect the dynamics of the system, if necessary, the dynamics calculation using some specific method also takes into account the velocity and acceleration components of the cage applied outside the cage path or catenary displacement.
Example 2
Referring to fig. 1, fig. 1 is a schematic diagram of a typical multi-rope winding type ultra-deep flexible cage guide elevator, assuming that the rotation of the drum is well controlled, i.e. the rotation of the drum is identical to the target lifting curve, the dynamic response of the drum is ignored in the model, and only the boundary conditions caused by the drum are introduced into the method. A rope between the roller and the head sheave is called a suspension rope, and a rope between the head sheave and the cage is called a vertical rope. Establishing a fixed coordinate system O at the midpoint of the line connecting the tangent points of the two drums and the suspension ropes at the initial moment, i.e. at the moment when no lifting is yet carried out c x c y c z c Establishing a fixed coordinate system O at the middle point of the connection line of the tangent points of the two vertical ropes and the head sheave v x v y v z v . The length of the suspension rope is L c The time-varying length of the rope is L v (t) three-directional vibration of the suspension rope is represented by u ci ，w ci ，v ci At O c x c y c z c Carrying out representation; three-direction vibration of the vertical rope is respectively used by u vi ，w vi v vi At O v x v y v z v Where i =1 or 2 is the number of the hoisting rope, l i0 ，l i1- ，l i1+ ，l i2 Respectively showing the starting point of the suspension rope, the end point of the suspension rope, the starting point of the plumb rope and the end point of the plumb rope.
Step 1: the whole system is divided into two subsystems: the lifting rope system, the cage subsystem and the cage guide subsystem are coupled in a force and displacement mode, and the coupling relation of the three subsystems is shown as figure 2.
Step 2: the dynamic modeling is carried out on the rope lifting system, and the kinetic energy and the potential energy of the subsystem are as shown in the formula (0.1) and the formula (0.2)
Wherein,
is the quasi-static tension of the rope;
ε＝u′+0.5u′ 2 +0.5w′ 2 +0.5v′ 2 is the lagrange strain of the rope;
rho, E, A and g are respectively the linear density, young modulus, equivalent sectional area and gravity acceleration of the lifting rope.
J s ，R s The moment of inertia and the effective radius of the head sheave, respectively, E K1 Representing the kinetic energy of the hoisting rope system, E P1 Representing the lifting rope system potential energy, and V representing the lifting target speed over time;
virtual work by external force is formula (0.3)
Wherein, c uc ，c wc ，c vc ，c uv ，c wv ，c vv Respectively representing the equivalent damping coefficients of the suspension ropes in all directions.
According to the Hamilton principle, i.e.
After a series of simplifications, the kinetic equation of the lifting rope system can be obtained, and the result is as follows:
wherein, the formula (0.5) -the formula (0.7) is a vibration equation of the suspension rope, the formula (0.8) -the formula (0.10) is a vibration equation of the suspension rope, and the formula (0.11) is a vibration equation of the head sheave; v denotes a target lifting speed with time.
And 3, step 3: and performing dynamic modeling on the cage subsystem. The cage is schematically shown in FIG. 3, and a connected base coordinate system O is established on the geometric center of the cage g x g y g z g Establishing a connected base coordinate system O on the mass center of the same m x m y m z m . The cage dimensions are as shown in the figures. Using Europe of the Y-Z-X typeThe pull angle describes the posture, and the rotation angle is beta cage ，α cage ，γ cage And (4) showing. Its angular velocity vector can be derived from the euler angular velocity:
wherein phi is cage ＝[β cage ，α cage ，γ cage ] T ，
ω cage Indicating the cage in a connected base coordinate system O m x m y m z m Angular velocity vector of (1).
α cage representing the angle of rotation around Z in the Euler angle of the cage posture;
β cage representing the angle of rotation around Y in the Euler angles of the cage posture;
γ cage representing the angle of rotation around X in the Euler angles of the cage posture;
the kinetic equation can be directly obtained from the Newton Euler equation. As follows
Wherein,
U cage ＝[U cage ，W cage ，V cage ] T is a position vector of the cage and is,
J cage is a rotational inertia matrix of the cage;
sigma F and sigma M are resultant force received by the cage in a fixed coordinate system and resultant moment received by the cage in a mass center coordinate system respectively;
U cage representing the center of mass of the cage in a fixed coordinate system O c x c y c z c A position X component of (a);
W cage representing the center of mass of the cage in a fixed coordinate system O c x c y c z c A position Y component of;
V cage representing the center of mass of the cage in a fixed coordinate system O c x c y c z c A position Z component of (a);
and 4, step 4: the dynamic modeling of the cage guide is carried out, the huge internal tension generally exists in the cage guide, the internal tension is far larger than the gravity generated by the cage guide and the tension is far larger than the tension generated by the lateral deformation of the cage guide, so that when the dynamic modeling is carried out on the cage guide, the cage guide is directly analogized into a chord, the two directions are not coupled, and the dynamic equation can be directly obtained, as follows
Wherein, c gv ，c gw ，ρ g ，
Respectively are equivalent damping coefficients of the cage guide in the y direction; the equivalent damping coefficient in the Z direction, the linear density of the cage guide and the internal tension of the cage guide;
and 5: the three subsystems are coupled dynamically, and the key points are that the sum force of the cage guide and the vertical rope applied to the cage is shown, and the displacement of the cage, which is connected with the cage guide and the vertical rope, is shown.
As shown in fig. 3, there is a slave O m x m y m z m To O g x g y g z g Of the homogeneous transition matrix
And from O g x g y g z g To O v x v y v z v Of a homogeneous transformation matrix
C for contact point of vertical rope and cage i And (4) showing. P for contact point of cage and cage guide ij Indicating the meaning of the ith contact point of the cage and the jth cage guide. The above representations of these points in different coordinate systems are respectively:
has the following conversion relation:
the respective contact point position, velocity, acceleration relation can be represented:
wherein S is ω ，B 1-3 ，B 2-3 ，
Are respectively omega cage The cross multiplication matrix of (1), the matrix of extracting coordinates from the homogeneous coordinates, the matrix of extracting two-dimensional coordinates after three-dimensional coordinates are extracted and the rotation matrix.
Step 6: and (4) application of boundary conditions. At the suspension cord, boundary conditions are introduced taking into account the back and forth movement of the suspension cord on the drum and the rope jumping. The present embodiment adopts more typical boundary conditions:
wherein each amplitude is respectively:
wherein,
beta is the angle of the transition zone of the roller;
r，R d respectively equivalent radius of the hoisting rope and equivalent drumA radius;
n represents the number of lifted layers wound on the drum at this time;
k represents ε g The ratio of (the spacing between the guide grooves on the drum) to d (the radius of the lift cords);
t β ＝β/ω d ，(ω d ＝V/R d ) Representing the time of the rope jump impact;
t d ＝K s π/ω d ；
wherein,
K s is the symmetry factor of the drum, indicating the time interval of the first impact.
t c ＝2π/ω d Indicating the time of one rotation of the drum.
ω＝π/t β Indicating the frequency of the impact.
The embodiment also provides a dynamic modeling method based on the mine multi-rope winding type hoister, which comprises a memory and a processor, wherein the memory is stored with executable codes, and the processor executes the executable codes to realize the method, and can also realize the method according to the specific method provided by the embodiment.
The present embodiment also provides a storage medium, on which a computer program is stored, and when the computer program is executed in a computer, the computer program causes the computer to execute the method described above, which can also be implemented according to the specific method provided by the embodiment.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitutions or changes made by the person skilled in the art on the basis of the present invention are all within the protection scope of the present invention. The protection scope of the invention is subject to the claims.
Claims (6)
1. A dynamic modeling method based on a mine multi-rope winding type hoist is characterized by comprising the following steps: the method comprises the following steps:
determining each subsystem in the elevator system, wherein the subsystems comprise a lifting rope system, a cage system and a cage guide system;
determining the dynamic characteristics and the mechanical principle of each subsystem;
establishing a dynamic model of each subsystem according to dynamic characteristics and a mechanical principle, wherein the dynamic model comprises a hoisting rope dynamic model, a cage dynamic model and a cage way dynamic model;
coupling the hoisting rope system, the cage system and the cage guide system by adopting displacement and force as boundary conditions of a dynamic model;
the hoisting rope dynamics model is established according to the following steps:
the method comprises the following steps of establishing a dynamic equation of a lifting rope system by taking a lifting rope as a rope model without bending stiffness, wherein the dynamic equation of the lifting rope system comprises a vibration equation of a suspension rope, a vibration equation of a vertical rope and a vibration equation of a head sheave;
the cage kinetic model is established according to the following steps:
taking the cage as a rigid body, establishing a connected base coordinate system above a mass center, and representing inertia parameters by using a mass and inertia matrix; writing a dynamic equation of the cage in a fixed coordinate system according to a Newton Euler equation;
the cage guide dynamic model is established according to the following steps:
the cage guide is used as a tight steel wire rope, and a dynamic model of 0 boundary condition of the cage guide is established by adopting chord model analysis;
the coupling of the hoisting rope system, the cage system and the cage guide system is realized in the following way:
determining the force applied to the cage by the cage guide and the force applied to the cage by the vertical rope;
determining the displacement of a contact point of the cage and the cage guide and the displacement of the contact point of the cage and the vertical rope;
and determining the mutual friction force between the cage and the cage guide, wherein the mutual friction force is a dry friction model, and the magnitude of the friction force is in direct proportion to the acting force between the cage and the cage guide.
2. The method of claim 1 based on mine multi-cord wrap hoist dynamics modeling, wherein: the hoisting rope dynamics model is established according to the following steps:
describing the dynamic characteristics of the rope in an absolute coordinate system, and writing the kinetic energy and potential energy of a lifting rope system according to the three-dimensional vibration of the lifting rope;
writing the energy dissipation of the lifting rope system according to the viscous damping model;
and finally, obtaining a dynamic equation of the hoisting rope system under the boundary condition of 0 by adopting a Hamilton principle.
3. The method of claim 1 based on mine multi-cord wrap hoist dynamics modeling, wherein: the vibration equation of the suspension ropes of the hoisting rope system is specifically as follows:
the vibration equation of the vertical rope is as follows:
the vibration equation of the head sheave is specifically as follows:
wherein a fixed coordinate system O c x c y c z c Describing the vibration of the suspension ropes, fixed coordinate system O v x v y v z v The length of the suspension rope is L c The time-varying length of the rope is L v (t)；
Three-directional vibration of the suspension rope is respectively u ci ，w ci ，v ci At O c x c y c z c Carrying out representation;
three-direction vibration of the hanging rope respectively uses u vi ，w vi ，v vi At O v x v y v z v Carrying out representation;
i =1 or 2 is the number of the hoisting rope;
l i0 ，l i1- ，l i1+ ，l i2 respectively showing the starting point of the suspension rope, the end point of the suspension rope, the starting point of the vertical rope and the end point of the vertical rope;
rho, E, A and g are respectively the linear density, young modulus, equivalent sectional area and gravitational acceleration of the lifting rope;
J s ，R s the moment of inertia and the effective radius of the head sheave are respectively;
C uc ，C wc ，C vc respectively representing equivalent damping coefficients of three directions of a vertical rope of the suspension rope;
v represents a lift target speed that varies with time;
θ represents the tilt angle of the suspension rope;
4. The method of claim 1 based on mine multi-cord wrap hoist dynamics modeling, wherein: the kinetic equation of the cage kinetic model is as follows:
wherein the connected base coordinate system O is fixed at the center of mass of the cage m x m y m z m ；
Sigma F and sigma M are resultant force received by the cage in a fixed coordinate system and resultant moment received by the cage in a mass center coordinate system respectively;
m represents the mass of the cage;
J cage a matrix representing the moment of inertia of the cage;
U cage representing the center of mass of the cage in a fixed coordinate system O v x v y v z v X-direction displacement in (1);
w cage indicating the cage in a connected base coordinate system O m x m y m z m An angular velocity vector of (1);
or
The dynamic equation of the cage guide dynamic model is as follows:
wherein, c gv ，c gw ，ρ g ，
Respectively are equivalent damping coefficients of the cage guide in the y direction; the equivalent damping coefficient in the Z direction, the linear density of the cage guide and the internal tension of the cage guide.
5. A mine multi-cord wrap-around hoist dynamics modeling system comprising a memory and a processor, wherein the memory has stored therein executable code that when executed by the processor performs the method of any of claims 1-4.
6. Storage medium having stored thereon a computer program, characterized in that the computer program, when executed in a computer, causes the computer to perform the method of any of claims 1-4.
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