| 摘要 |
A method and a device, in a mine hoist, for damping the vertical oscillations which may arise in the skip/skips (8, 9) of the mine hoist during different operating conditions. According to the invention, with the aid of a Kalman filter in the form of an estimator (12) based on a state model of the mine hoist, estimated values of the speed (z1, z2) of the skip/skip may be obtained. with access to these estimated values, the torque control, included in the speed control of the mine hoist and superimposed on the torque which is required from the speed controller (1) via a torque control generator (13), may be given a torque addition which acts in such a way that, as soon as differences arise between the speed of the rope drum nltr of the mine hoist and the estimated speeds of the skips, the tendencies to oscillations are counteracted and reduced after a short building-up process (Figure 5). |
