超深立井施工提升系统耦合振动与协调控制研究

The hoisting system suspended(guided) by parallel ropes is investigated to study the coupled vibration and coordinated control of the time-varying hoisting system in a super-deep construction shaft, based on theoretical research, numerical calculation, co-simulation method and experimental research. Coupled vibration model of the reeling hoisting rope is established to investigate the perturbation characteristics of the hoisting system. Dynamic model of the unconstrained platform suspended by long distance parallel ropes is established, infected by the eccentric of the platform，the rope mass/elasticity/torsion and tension or relaxation of the rope, and coordinated control method of the suspended platform is proposed based on multiple sensing technique. Coupled vibration model of the large-scale large time-varing length hoisting system is established, considering the combined affection of the airflow field, flexible rope guidance, and coupled vibration exists in the suspension platform and the torsion of the hoisting rope. A coordinated control method is established considering cross boundary constrains such as lateral constraint for the central part of the guide rope and flexible constrains for the platform. The investigation of coordinated control and stability monitoring of the super deep construction vertical shaft hosting system, and related comprehensive experiments and property analysis will lay foundations on the dynamical properties prediction and enhance the control performance. This research could improve the efficiency and enhance the safety of the flexible hoisting system, and make a critical difference in avoiding fatal accidents in the construction of super-deep vertical shaft.

本项目以并联柔索悬吊/导向提升系统为研究对象，综合运用理论分析、数值计算、联合仿真与科学实验的研究方法，深入开展超深立井施工提升系统耦合振动与协调控制研究。主要包括：建立柔索缠绕卷放过程的运动耦合模型，探求提升系统的扰动特性；综合考虑平台偏心、惯性力，柔索质量、弹性、扭转属性，及其张紧、松弛特征等多因素，构建欠约束长距离并联柔索悬吊平台动力学模型，建立基于多传感器技术的悬吊平台协调控制方法；构建气流扰动、柔索导向、平台耦合、绳索扭转等多元联合作用下大尺度强时变提升系统耦合振动模型，建立导向柔索中部约束与悬吊平台柔性支撑等交叉边界约束下的协调控制方法；通过超深立井施工提升系统的协调控制与稳定性监测技术研究、综合实验与性能分析评估，为其综合动态性能预测、提升和有效控制奠定基础，对于千米以上超深立井施工过程的安全升降具有重要的理论意义和实际工程应用价值。

本项目针对柔索并联悬吊平台和施工立井提升系统，结合微分几何学、连续体振动理论、广义α算法、ADAMS仿真与Lyapunov稳定性理论，对超深立井施工提升系统耦合振动与协调控制进行深入研究。主要成果包括：基于微分几何学和非对称系数描述卷筒上柔索的几何空间状态特点，为多层缠绕卷筒参数优化提供理论，并采用计算机视觉技术对柔索运动状态进行检测辨识出柔索扰动模型；建立了柔索并联悬吊平台的非光滑动力学模型，采用广义-α改进算法得到动力学响应及悬吊柔索的张力特性，解决柔索在纵向方向的单向约束特性以及在横向和扭转方向上的双向约束特性计算难点；相对传统刚性系统模型，建立了柔性导向下的施工立井提升系统时变耦合动力学模型，揭示了导向绳预紧力与吊桶横向振动之间的影响规律，在此基础上提出变长度有限元模型，解决了超千米施工立井中连续体模型在振型叠加求解时模态数高易导致结果发散的问题；柔索并联悬吊平台和施工立井提升系统动力学结果均通过ADAMS仿真验证；基于Lyapunov稳定性理论，针对柔索并联悬吊平台和施工立井提升系统分别提出模糊反步控制策略和自适应神经网络-反步控制策略，解决了柔索并联悬吊平台位姿失调和张力不平衡、施工立井提升系统振动问题。开发了超深立井施工提升系统动态工作监控技术和相关的软件，为超深施工立井的安全运行提供了保障。

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