Segmented multi-frequency input shaping control for axial vibration suppression of mine winding hoister

Vibration suppression of mine hoisting systems is essential for operational safety and efficiency in ultra-deep mining. In recent years, input shaping has been widely used for residual vibration suppression due to its efficient vibration suppression capability and ease of implementation. However, the natural frequency of the wire rope varies with the length of the rope and time during the hoisting process, posing a huge challenge to conventional input shaping methods. This paper proposes a novel control method employing Segmented Multi-Frequency Input Shapers (SMFIS) to suppress axial vibration by segmenting the lifting trajectory and incorporating multiple natural frequencies into the input shaper design. Based on SMFIS, a simpler velocity-based SMFIS (V-SMFIS) focusing on realizability and a more accurate acceleration-based SMFIS (A-SMFIS) focusing on control effectiveness are developed. Simulation results of various shapers in multiple working conditions verify the effectiveness and superiority of the method, providing a reference for the research of longitudinal vibration suppression method of time-varying mine winding hoister.