超深立井施工提升系统耦合振动与协调控制研究

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。

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.