Co-simulation model coupling of flexible rope hoisting system and hydraulic braking system for a mine hoist

The hoist is an important equipment in the mine pit. Since the containers are lifted or lowered with flexible steel wire ropes, there are shocks and vibrations during operation, especially in the emergency braking stage, the shocks and vibration will be more severe. Mine hoist is a complex system; therefore, it is difficult to obtain all its dynamics information only by investigating the flexible hoisting subsystem or hydraulic brake subsystem. Therefore, it is very necessary to establish an accurate model to predict these characteristics of the hoist, this will provide useful tools for hoist design and maintenance. Therefore, a joint modeling methodology is proposed and implemented in this paper. A hoisting system model considering the non-linear factors such as contact characteristics and flexibility was established in RecurDyn. The hydraulic braking system model and control system model were established in AMESim, and the co-simulation model was constructed by the interface module. In this co-simulation model, not only the flexible hoisting subsystem and hydraulic brake subsystem are included, but also the coupling effect of subsystems is considered. Finally, taking the lifting condition as an example, execute emergency braking research on the hoisting system under experiment, mathematical model, and co-simulation model, respectively. Comparing the co-simulation model with the mathematical dynamics model, and the experimental test results, research indicates that the joint simulation model of coupled hoisting system and hydraulic braking system can effectively reflect the dynamic characteristics of the actual hoisting system. It provides an effective tool for hoist design, optimization, performance analysis, and operating condition simulation. In addition, the methods and techniques used in the co-simulation modeling procedure are portable. Therefore, the paper is of significance for the mine hoist.

Investigation of Dynamic Load in Superdeep Mine Hoisting Systems Induced by Drum Winding

Blair mine hoists powered by drum winding are a key equipment in the transportation of a superdeep mine shaft. The step changes of hoisting velocity and acceleration caused by coil and layer crossover of rope winding on the LeBus drum, which will excite impact responses of hoisting systems, cannot be ignored in the hoisting system with high velocity. The paper focuses on investigating the effect of drum winding on impact responses of superdeep mine hoisting systems. Firstly, the hoisting velocity and acceleration were precisely modelled and calculated according to the structure of rope groove of the LeBus drum; secondly, impact responses of the dynamic displacement and load were obtained by applying the established model; eventually, an experiment was performed, and then, the validity of the established model and the response mechanism was verified. The paper will provide good technical support for the design and optimization of the mine hoists in superdeep mine shafts.

CFD Simulations of the New Construction of Light Brattice Wall for Mine Shafts

Brattice walls in mine shafts are used for various purposes, for example, permanent brattice walls can be used to separate ventilation sections. They can be also used in the case of modernization of the hoisting system, as it is in Shaft no. 1 of the Szczygłowice department, part of the Knurów-Szczyłowice coal mine. To shorten the time and reduce costs of the hoist modernization, the shaft is to be partitioned into two sections—with the hoist operating in one of them and another one being modernized in the other section. The new construction of the light brattice wall was designed for this purpose. To prove its usefulness and safety it was tested in the laboratory and computer simulations. The following paper presents CFD simulations of the brattice—its methodology and results together with an overview of works to be conducted in the shaft.

Spot Image Segmentation of Lifting Container Vibration Based on Improved Threshold Method and Mathematical Morphology

Because the mine is damp and dark, it is not easy to detect the rigid tank channel’s structural failure directly. Therefore, we judged the tank channel’s surface condition by detecting the magnitude of the vibration displacement of the lifting container. In our study, we used a laser vision system to measure the structural vibration displacement. In order to accurately segment the laser spot information from the vibration image, we proposed an approach that links the relationship between the gray value of the area adjacent to the threshold point and the background’s gray value to the target in the image. We used MCE to evaluate the segmentation effect of threshold segmentation and verified the improved algorithm’s accuracy by detecting the pixel centroid of laser spots. Results show that the improved algorithm in our study has the best threshold segmentation effect, the error classification can be close to 0.0003, and the minimum deviation of the obtained vibration displacement is close to 0.1 pixels, which can realize the accurate extraction of the vibration signal of the vertical shaft tank. The novelty of this method lies in the accurate threshold segmentation and noise reduction processing of the laser speck vibration image under various interference environments in the operation of the mine hoisting system and the accurate acquisition of vibration signals. The research work provides a basis for the accurate evaluation of mechanical faults of automation technology.

ANALISA PENENTUAN SILINDER HIDROLIK PADA KONDISI OPTIMUM PINTU PENGURAS KOLAM PASIR PLTA BATANG AGAM

The Batang Agam Hydroelectric Power Plant is a run of river type plant that has water purification stages before being used to turn a turbine generator. One of them is a sand pool that functions to deposit sand, mud and impurities carried by river water, where the drainage condition is currently experiencing some damage so it needs to be developed in the hoisting system of the fixed valve drain using a hydraulic lifting system and this requires initial analysis in the form of fixed valve loading at optimum conditions which then becomes the basis for determining the hydraulic cylinder.The research methodology in this writing includes field observations accompanied by a literature review. With the data obtained, we then analyze the optimum load on the Batang Agam hydropower fixed valve drain to be a reference in planning hydraulic cylinders as a hoisting system for the Sand pool fixed valve drain.From this final project, it can be concluded that the optimum load of the Batang Agam fixed valve drain at an elevation of 684.5 meters above sea level of 10472.95 kg equivalent to 10 tons is a conditional situation in the rainy season, and a medium load at an elevation of 683.7 meters above sea level of 9039.04 kg equivalent to 9 tons, Based on the calculation of hydraulic cylinder power at the optimum load obtained Ø cylindrical tube 360 mm, medium load obtained Ø cylindrical tube 320 mm.

Wire Tension Coordination Control of Electro-Hydraulic Servo Driven Double-Rope Winding Hoisting Systems Using a Hybrid Controller Combining the Flatness-Based Control and a Disturbance Observer

When the double-rope winding hoisting system (DWHS) is in operation, tensions of two wire ropes of the DWHS will not be symmetrical because of some factors such as different manufacturing deviation between the twin winding drum and two wire ropes, different winding groove depths, the winding asynchronism of two wire ropes, and elastic modulus difference of two wire ropes and so on. Therefore, an electro-hydraulic servo system (EHSS) is employed to actively control two wire ropes tensions to guarantee operation security of the DWHS. Dynamic models of the hoisting system and the EHSS are introduced, of which dynamic model of the DWHS is expressed with state representation. The flatness-based controller (FBC) is designed for the hoisting system. A disturbance observer is utilized to deal with the external disturbance and unmodeled characteristics of the EHSS. Hence, a disturbance observer based integral backstepping controller (DO-BIBC) is designed for the EHSS. The stability of the overall control system is proved by de-fining an overall Lyapunov function. To investigate the property of the proposed controller, an experimental setup of the DWHS is established. As well, comparative experimental results indicate that the proposed controller exhibits a better performance on leveling control of the conveyance and tension coordination control on the two wire ropes than a conventional PI controller.

Digital Twin of the Mining Shaft and Hoisting System as an Opportunity to Improve the Management Processes of Shaft Infrastructure Diagnostics and Monitoring

The following chapter presents a concept of a virtual model of a mine shaft equipped with a hoisting system for the purpose of improving the processes of diagnostics management of shaft infrastructure and its monitoring. The chapter presents a proposal of improvement of broadly known processes such as: diagnostics and monitoring of shaft infrastructure using digital models of 3D structures, the BIM and Digital Twin idea. Implementation of such systems in the operating mine working was presented together with expected results of monitoring. As the presented solution is currently only a concept, development of such system in real application is necessary to asses real benefits of application of Digital Twin system.