Dynamic Simulation of a Dual-Cable Parallel Winding Hoisting System with Flexible Guides

Abstract

A dual-cable parallel winding hoisting system (DCPWHS) is a feasible system for ultra-deep vertical shaft hoists. In this system, two hoisting cables are winded on two separate drums, and their lower ends are connected to a conveyance. Two guiding cables are installed in the shaft to provide guidance for the conveyance; thereby, transverse vibrations of the cables and the conveyance interact with each other. A mathematical model of the DCPWHS with flexible guides that constitute two guiding cables is presented to analyze its coupled vibrations in out-of-plane transverse and torsional directions. Lagrange’s equations with constraints in combination with the continuous vibration theory are used to derive equations of motion of the system, and coupling relations among hoisting cables, guiding cables, and the conveyance are described by geometric matching conditions. Numerical simulation results are in good agreement with those calculated by MSC.ADAMS. Natural frequencies (NFs) of the stationary system at different positions of the conveyance are also obtained, and a graphic approach is presented to distinguish and extract hoisting cable transverse NFs and guiding cable NFs from system NFs. Numerical results show that transverse vibrations of hoisting cables cause the conveyance to vibrate in both transverse and torsional directions. However, due to restrictions of guiding cables, the rotation of the conveyance is small and negligible. The influence of the guiding cable tension on the dynamic response of the system is also investigated, which can be used for selection of the guiding cable tension in the design of the DCPWHS.