- 专利标题： Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system
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申请号： US16772162申请日： 2019-09-12
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公开(公告)号： US11691846B2公开(公告)日： 2023-07-04
- 发明人: Gang Shen , Zhencai Zhu , Xiang Li , Yu Tang , Guohua Cao , Gongbo Zhou , Songyong Liu , Yuxing Peng , Hao Lu
- 申请人： China University of Mining and Technology
- 申请人地址： CN Jiangsu
- 专利权人： China University of Mining and Technology
- 当前专利权人： China University of Mining and Technology
- 当前专利权人地址： CN Jiangsu
- 代理机构： JCIPRNET
- 优先权： CN 1910284619.2 2019.04.10
- 国际申请： PCT/CN2019/105589 2019.09.12
- 国际公布： WO2020/206931A 2020.10.15
- 进入国家日期： 2020-06-12
- 主分类号： B66B1/28
- IPC分类号： B66B1/28 ; G06F30/23 ; B66B19/00 ; F15B15/00 ; G05B13/04 ; G06F111/10
摘要：
The present invention discloses a hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system. The method comprises the following steps of step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem; step 3, outputting a flatness characteristics of a nonlinear system; step 4, designing a pose leveling flatness controller of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; and step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem.
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