Modeling and dynamic behavior analysis of a coupled multi-cable double drum winding hoister with flexible guides

In this paper, a comprehensive model is derived to analyze the dynamic behavior of a multi-cable double drum winding mining hoister with flexible guides by using Hamilton principle. Each cable which consists of an inclined section and a varying length vertical section is modeled as an axially moving string with coupled transverse-longitudinal nonlinear vibration. The coupling between different cables is described through the dynamic and kinematic equations of the conveyance. The time-varying equal moment of inertia of drums is obtained by considering the varying mass of cables winding on drums. The model of flexible guides which was always approximated as a spring-damping system is modeled as a tensioned string with fixed ends in this paper. The dynamic characteristics of flexible guides are considered in the interaction between the conveyance and the flexible guides via calculating the lateral displacement of the conveyance corner and reaction forces from flexible guides. The dynamic behavior of the multi-cable double drum winding hoister with unbalance factors, the conveyance eccentricity and the drum radius inconformity, are analyzed by simulation. Some design principles are proposed to restrict the inconformity of dynamic tension between cables.