Adaptive robust boundary control strategy for tension balance of steel wire rope in double rope winding hoisting system

Abstract

Due to reasons such as manufacturing errors of the drum and inconsistent elastic deformation of ropes, the double rope winding hoisting system will have problems of unbalanced tension of the steel ropes and longitudinal vibration of the hoisting container. In response to this phenomenon, this paper proposes a parameter-adaptive robust boundary control strategy for rope tension balance. Firstly, by comprehensively considering the coupled vibration characteristics of the steel ropes, floating sheave, and containers, a distributed parameter dynamic model of the system is established. This model can accurately characterize the flexible features and nonlinear dynamics of the system. Secondly, aiming at tension difference suppression and vibration control, a robust boundary controller based on the precise model is designed using Lyapunov theory and Barbalat’s lemma. Furthermore, to address system modeling uncertainties and unknown disturbances, the Lyapunov function is redefined. Combined with the real-time online estimation of the unknown disturbance terms, the nonlinear feedback equation of the excitation force of the floating sheave is redesigned to form an adaptive robust boundary controller. Finally, experimental validation is conducted on a test platform. By simulating drum manufacturing deviations, the control effects of no control, traditional PID, and the proposed algorithm are compared. Results demonstrate that the proposed method significantly improves tension balance accuracy and operational stability.