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In this paper, a modified double-rope winding hoisting system (MDWHS) is proposed for ultra-deep mines. Nevertheless, the MDWHS has wire rope tension imbalance issues due to lift inconsistency of two wire ropes. A combined control algorithm is designed for wire rope tension active control considering the nonlinear uncertainties subjected to the MDWHS, where a low gain state observer (LGSO) and a robust nonlinear adaptive controller are employed via backstepping theory. Firstly, to investigate the wire rope tension active control method, the dynamics model of the MDWHS is established. Then, the LGSO is employed to estimate unmeasured system state variables and to optimize perturbed system state variables. Finally, a robust nonlinear control method is employed to acquire prospective control input. The combined control algorithm can ensure the desired transient and final tracking accuracy, which is essential for tracking control of wire rope tension active adjustment. The stability of the overall closed-loop system with the presented control algorithm can be verified referring to the Lyapunov theory. Experimental results conducted on the established double-rope winding hoisting simulation experimental system demonstrate that the proposed active control method exhibit more advantageous performance on wire rope tension balance control compared with the conventional Proportion Integration (PI) and adaptive backstepping controller (ABC).

A Robust Nonlinear Controller With Low-Gain-State-Observer for Wire Rope Tension Active Control of Hoisting Systems