公开(公告)号：US11691846B2

公开(公告)日：2023-07-04

申请号：US16772162

申请日：2019-09-12

Applicant: China University of Mining and Technology

Inventor： Gang Shen ,  Zhencai Zhu ,  Xiang Li ,  Yu Tang ,  Guohua Cao ,  Gongbo Zhou ,  Songyong Liu ,  Yuxing Peng ,  Hao Lu

IPC: B66B1/28 ,  G06F30/23 ,  B66B19/00 ,  F15B15/00 ,  G05B13/04 ,  G06F111/10

CPC classification number: B66B1/28 ,  B66B19/00 ,  F15B15/00 ,  G05B13/042 ,  G06F30/23 ,  G06F2111/10

Abstract: 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.