Collaborative Controller for Braking Force of Multi-Channel Braking System of Mine Hoist Based on Braking-Shoe Wear

With the continuous increase in operating speed and lifting load of mine hoist, multi-channel braking system must be adopted to ensure braking safety. However, existing multi-channel braking system lack a clear collaborative force distribution mechanism among multiple brakes. To address this issue, this paper proposes a collaborative controller for braking force of multi-channel braking system of mine hoist based on braking-shoe wear. First, to account for uneven wear among multi-channel braking-shoes, a wear detection method is proposed, and a dynamic braking force distribution strategy is established based on the measured wear levels. Additionally, to account for nonlinear uncertainties caused by dynamic response characteristics, modeling errors, and external disturbances, a fast terminal sliding mode controller is developed. This controller integrates a disturbance observer and a coupled braking force tracking error compensation method, enhancing control performance and mitigating inconsistent wear rates among braking-shoes. Finally, experimental validation is conducted on a multi-channel braking system experimental bench for mine hoist. Results demonstrate that the proposed controller not only improves braking-shoe wear uniformity but also ensures high-precision steady-state braking force tracking.