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Volume 53 Issue S1
Jun.  2025
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LIU Shuai，BAO Jiusheng，DAI Jinhao，et al. Deep coal fluidization mining ropeless hoisting system and its cooperative driving control strategy[J]. Coal Science and Technology，2025，53（S1）：422−434. DOI: 10.12438/cst.2024-0972
Citation: LIU Shuai，BAO Jiusheng，DAI Jinhao，et al. Deep coal fluidization mining ropeless hoisting system and its cooperative driving control strategy[J]. Coal Science and Technology，2025，53（S1）：422−434. DOI: 10.12438/cst.2024-0972
shu

Deep coal fluidization mining ropeless hoisting system and its cooperative driving control strategy

  • 1.

    School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China

  • 2.

    Frontier Science ResearchCenter for Fluidized Mining of Deep Underground Resources, China University of Mining and Technology, Xuzhou 221008, China

  • 3.

    School of Mechanical and Electrical Engineering, China University of Mining and Technology-Beijing, Beijing 100083, China

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  • Received Date: July 08, 2024
  • Available Online: May 25, 2025
    Graphical Abstract
    • Abstract

  • Aiming at the scientific frontier of deep coal fluidization mining more than 2 000 m deep, aiming at the technical bottleneck of traditional wire rope lifting technology in lifting height, load and reliability, an ultra-deep well wireless lifting system based on combined drive of linear motor and gear rack is innovatively proposed, and the simulation and test research are focused on the control strategy of multi-motor collaborative drive. First, according to the characteristics of the transport objects and working conditions of the deep coal fluidization mining system auxiliary lifting, the combined lifting scheme of linear motor and gear rack is proposed, and the drive equipment and system are selected and designed; Secondly, the vector control strategies of two kinds of motors, Gear-driven permanent magnet synchronous motor (PMSM) and Linear drive permanent magnet synchronous motor (PMLSM), are selected, and the dynamic response characteristics of the motor are studied through mathematical modeling of the two motors and simulation model establishment in MATLAB/Simulink; Secondly, in order to improve the synchronous performance of multi-motors, the research and analysis of multi-motor synchronization and cooperative control strategy are carried out, and the fuzzy PI optimization parameter method is used to optimize the traditional coupling control mode; At the same time, the control strategy of "constant torque (F)‒speed (ω)" is proposed for the collaborative control of dissimilar motors, and the dynamic simulation analysis is carried out based on AMESim; Finally, a prototype of the cordless hoisting system is established, and the feasibility and rationality of the "F‒ω" control strategy proposed in this paper are verified through tests. Finally, a prototype of the cordless hoisting system is established, and the feasibility and rationality of the proposed "F‒ω" control strategy are verified through tests. The research results show that the fuzzy PI loop coupling control algorithm can optimize the motor response characteristics and improve the following and synchronization performance among multiple motors. By adopting the "F‒ω" coordinated control strategy of dissimilar motor, the change of load lifting container is positively related to the change of acceleration of drive gear motor, and it is easier to realize control.

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