Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system
US11691846B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 12, 2019 |
| Grant date | Jul 4, 2023 |
| Priority date | — |
| Expiry date | Sep 12, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F2113/06
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.