CN107001000A - Method of controlling transverse resonance in suspension cables, hoist drum control system and mine drum hoist system - Google Patents

Abstract

The present disclosure relates to a method of controlling lateral resonance in a catenary of a mine drum hoist system (1) comprising a hoist drum (5) with a dogleg rope groove, a head sheave (7), a rope (9) with a vertical rope portion (9b) and a catenary (9a) extending between the hoist drum (5) and the head sheave (7), and a conveyor (11) attached to the vertical rope portion (9 b). The method comprises the following steps: a) determining a current payload of the conveyor (11), b) obtaining a lifting speed of the hoist drum (5) corresponding to a first speed of the conveyor (11), c) determining a lateral resonance position along the vertical rope portion (9b) at which a lateral resonance is generated in the catenary (9a) when reached by the conveyor (11) having the current payload and the first speed, wherein the lateral resonance position is determined based on the current payload and the lifting speed, and d) reducing the first speed of the conveyor (11) in a speed reduction zone comprising the lateral resonance position. The disclosure also relates to a computer program, a hoist drum control system (3) and a mine drum hoist system (1).

Description

Method of controlling transverse resonance in suspension cables, hoist drum control system and mine Drum Elevator System

technical field

The present disclosure generally relates to mine drum hoist systems. In particular, it relates to the control of hoist drums of mine drum hoist systems.

Background technique

Hoist drums that wind rope in more than one layer normally have breakline (breakline) grooves for laying the rope. The rope grooves are parallel except in the intersection section where they move the rope in the axial direction of the drum by a distance equal to half the rope diameter to the next parallel rope groove. There are two intersection sections on the circumference of the drum surface, which means that after a complete turn the rope has been moved by one rope diameter by the broken line groove. Normally the intersection section is just the opposite (diametrical). This arrangement is called a symmetrical polyline.

The drum is normally installed near the ground. The rope runs from the drum to a head sheave in a head frame above the mine shaft. The rope angle between the reel and the sky wheel is about 45 degrees under normal circumstances. After passing the sky wheel, the rope travels vertically in the mine shaft. The rope ends are connected to a conveyor for the transport of personnel, minerals or equipment. The part of the rope between the hoist drum and the sky wheel is called the suspension rope.

The intersecting segments push the rope for a short period of time, creating a nearly rectangular pulse-shaped "kick" on the rope in a direction perpendicular to the rope axis, also known as a lateral kick. The pulse wave can be converted into a fundamental sine wave with harmonics by means of the Fourier transform. If the kicking is repeated, ie excited at a frequency corresponding to the natural or resonant frequency of the catenary, the amplitude of the lateral catenary oscillations will build up to unacceptably large values. High amplitudes will seriously affect rope life.

Additionally, the high amplitude may cause discomfort to personnel traveling with the transport aircraft.

It is known that by reducing the lifting force (i.e. the rope speed) as the rope pull approaches the point of suspension resonance (which can be produced at maximum speed), that resonance point will shift to another rope pull because at the reduced speed , the excitation or kicking frequency of the creases on the reel will be reduced.

For a hoist always running at nominal full speed with a constant load in the upward direction and with zero payload in the downward direction (this is the case for production hoists), it is normal to have a hoist at which the hoisting speed is reduced It is sufficient to have preset distances in mines. However, this is not sufficient in the case of varying payloads and speeds of the transport aircraft.

Contents of the invention

It is an aim of the present disclosure to solve or at least alleviate these problems of the prior art.

Therefore, according to a first aspect of the present disclosure, there is provided a method of controlling transverse resonance in suspension cables of a mine drum hoist system comprising a hoist drum having a broken line rope groove, an overhead pulley, Ropes having a vertical rope portion and suspension cables extending between a hoist drum and a sky wheel and a conveyor attached to the vertical rope portion, wherein the method comprises: a) determining a current payload of the conveyor, b) obtaining a corresponding The hoisting speed of the hoist drum at the first speed of the conveyor, c) determining the transverse resonance position along the vertical rope section, where it is reached by the conveyor with the current payload and the first speed Transverse resonance is induced in the suspension cables, wherein the location of the lateral resonance is determined based on the current payload and hoisting speed, and d) reducing the first speed of the conveyor in a speed reduction zone including the location of the lateral resonance.

A technical effect achievable by reducing the first speed of the conveyor in the speed reduction zone is that the resonance point is moved away from the transverse resonance point. As a result no transverse resonance occurs at the determined transverse resonance location. Furthermore, since the first speed is maintained outside the speed reduction zone, the lateral resonance position that is shifted due to the speed reduction will never become a reality because the lateral resonance position will move to the original determined transverse resonance position. Thus, transverse resonances in the suspension cables can be substantially avoided for any payload and any first speed of the transporter. The payload and/or speed are thus allowed to vary each time the conveyor is lifted in the mine.

One embodiment includes receiving a first force measurement from a first load sensor of the skywheel and a second force measurement from a second load sensor of the skywheel, wherein step a) involves adding the first force measurement to the second force measurements to determine the sum of the force values, where the current payload is determined based on the sum of the force values.

According to one embodiment, the current payload is determined by subtracting the weight of the vertical rope section, the weight of the conveyor and the weight of the crown wheel from the sum of the force values.

According to one embodiment, the determination of the transverse resonance position in step c) is further based on the resonance frequency of the suspension cables, the diameter of the hoist drum, the frequency of the pulses of the ropes occurring at the intersection of the broken line rope grooves, the vertical rope section from The length from the central axis of the sky wheel to the mine opening, the weight of the conveyor, the weight of the rope per unit length and the length of the suspension.

According to one embodiment, in step c) the transverse resonance position is obtained from a look-up table containing pre-calculated transverse resonance positions for a number of different current payload and lifting speed combinations.

According to one embodiment, the step d) of reducing the first speed of the conveyor involves reducing the lifting speed.

One embodiment includes determining a speed reduction region based on the lifting speed obtained in step b), wherein the determination of the speed reduction region involves retrieving the speed reduction region, which has been determined for the transverse resonance position and has been determined based on and by the first load A catenary lateral force value proportional to the difference between the first force measurement measured by the sensor and the second force measurement measured by the second load sensor is determined.

According to a second aspect of the present disclosure there is provided a computer program product comprising computer executable components which when executed by a processing system cause an elevator drum control system comprising the processing system to perform the method according to the first aspect.

According to a third aspect of the present disclosure, there is provided a hoist drum control system configured to control transverse resonance of suspension cables in a mine drum hoist system comprising a hoist with a broken line rope groove A drum, a sky wheel, a rope with a suspension and a vertical rope portion extending between the hoist drum and the sky wheel, and a conveyor attached to the vertical rope portion, wherein the hoist drum control system includes: storage unit, and a processing unit, wherein the storage unit includes computer-executable components that, when executed by the processing system, cause the elevator drum control system to: determine the current payload of the conveyor, obtain a value corresponding to the first speed of the conveyor hoisting speed of the hoist drum, determination of the transverse resonance position along the vertical rope section of the rope to which the conveyor is attached, determination of the transverse resonance position along the vertical rope section, at which transverse resonance position is determined when the Arrival of the conveyor at the load and the first speed induces lateral resonance in the suspension cables, wherein the location of the lateral resonance is determined based on the current payload and hoist speed, and the first speed of the conveyor is reduced in a speed reduction zone including the location of the lateral resonance.

According to one embodiment, the processing unit is configured to receive a first force measurement from a first load sensor of the skywheel and a second force measurement from a second load sensor of the skywheel, wherein the processing system is configured to The measurement is added to the second force measurement to determine a sum of force values, and wherein the processing system is configured to determine the current payload based on the sum of force values.

According to one embodiment, the processing system is configured to determine the current payload by subtracting the weight of the vertical rope portion, the weight of the conveyor and the weight of the crown wheel from the sum of the force values.

According to one embodiment, the processing system is configured based on the resonant frequency of the catenary rope, the diameter of the hoist drum, the frequency of the pulses of the rope occurring at the intersection of the breakline grooves of the hoist drum, the vertical rope section from the sky The length of the central axis of the wheel to the mine opening, the weight of the conveyor, the weight of the rope per unit length and the length of the suspension rope are used to determine the transverse resonance position.

According to one embodiment, the processing system is configured to obtain the transverse resonance position from a look-up table containing pre-computed transverse resonance positions for a plurality of different current payload and lift speed combinations.

According to one embodiment, the processing system is configured to determine the reduced speed region based on the lifting speed, wherein the processing system is configured to determine the reduced speed region by retrieving the reduced speed region that has been determined for the transverse resonance location and The determination has been based on a catenary lateral force value proportional to a difference between a first force measurement measured by the first load sensor and a second force measurement measured by the second load sensor.

According to a fourth aspect of the present disclosure, there is provided a mine drum hoist system, comprising: a hoist drum with a broken line rope groove, a sky pulley, and a rope arranged to extend between the hoist drum and the sky pulley to Thereby defining the suspension rope and the vertical rope part, the conveyor, arranged to be attached to the vertical rope part, the motor, arranged to operate the hoist drum, the hoist drum control according to the third aspect arranged to control the motor system.

Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/element, device, component, means, etc." are to be construed openly as referring to at least one instance of the element, device, component, means, etc., unless expressly stated otherwise.

Description of drawings

Specific embodiments of the inventive concept will now be described by way of example with reference to the accompanying drawings, in which:

Figure 1 is a schematic illustration of a mine drum hoist system and hoist drum control system;

Figure 2 is a schematic front view of an example of the mine drum hoist system of Figure 1;

Figure 3a is a schematic side view of a detail of the sky wheel in the mine drum hoist system of Figure 1;

Figure 3b is a schematic front view of a detail of the sky wheel in Figure 1;

Figure 3c is a schematic front view of the hoist drum and sky wheel in Figure 1;

4 is a schematic illustration of a method of controlling transverse resonance in suspension cables of the mine drum hoist system of FIG. 1; and

Figures 5a to 5c show graphs of lateral force values for suspension cables.

detailed description

The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown. However, inventive concepts may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, And will fully convey the concept of the present invention to those skilled in the art. Like reference numerals refer to like elements throughout the description.

The present disclosure details in general how: by determining the transverse resonance position of the vertical rope section along the rope extending from the sky pulley to the conveyor connected to the vertical rope section, and through the speed reduction zone including the transverse resonance position Lateral resonance in the suspension cables can be avoided or at least reduced in mine drum hoist systems by reducing the speed of the conveyor. The transverse resonance position is based on the current payload of the conveyor arranged to be lifted in the mine by means of the hoist drum, and on the desired speed at which the conveyor moves in the mine if the speed is pre-programmed, or if the conveyor speed is manually operated The situation is based on the actual current speed at which the transporter is moving in the mine.

By reducing the velocity only in the velocity reduction zone, the transverse resonance point is moved away from the determined transverse resonance point in case there are several catenary transverse resonance points.

This disclosure further details which locations along the vertical rope section should be classified as transverse resonance locations in the control method, since there may be some transverse resonance locations which provide less pronounced transverse resonances in the catenary, where It is not necessary to reduce the speed of the transport aircraft. A tuning method is therefore also disclosed herein, in which for the control method a relevant transverse resonance point is selected. The tuning method also discloses how to select the speed reduction zone and how much the speed of the conveyor should be reduced in the speed reduction zone.

Figure 1 depicts a mine drum hoist system 1 comprising a hoist drum 5 of the zigzag type. The hoist drum 5 thus has a plurality of breakline grooves 5a, as shown in FIG. 2 . The broken line groove 5a has two intersection sections per turn, as shown in FIG. 2 by means of the regions 5b and 5c. Each intersection section translates the broken line groove 5a in the axial direction by eg half the rope diameter. Each broken line rope 5 a is thus translated in the axial direction by one rope diameter in one turn.

The drum hoist 5 may eg be a single drum hoist or a double drum hoist. Each of them can be equipped with one or more ropes carrying the conveyor.

The mine drum hoist system 1 further includes a sky wheel 7 , a rope 9 and a conveyor 11 . The rope 9 is wound around the hoist drum 5 in one or more layers, for example three layers. A rope 9 extends from the hoist drum 5 to the sky wheel 7 . The rope 9 has a suspension cable 9a extending between the hoist drum 5 around which the rope is wound in a broken line groove 5a and the crown wheel 7 . The rope 9 has a vertical rope portion 9b running from the crown wheel 7 to the conveyor. The rope 9 is connected or attached to the conveyor 11 such that when the hoist drum 5 is turned and the rope 9 is reeled or unwound, the vertical position of the conveyor 11 is altered.

The mine drum hoist system 1 comprises a first load sensor 7a and a second load sensor 7b. The sky wheel 7 is equipped with a first load sensor 7a and a second load sensor 7b. The first load sensor 7 a and the second load sensor 7 b are used to determine the current payload of the conveyor 11 and the side force of the suspension cables on the sky wheel 7 .

A number of vertical distances are depicted in FIG. 1 . A first distance d1 is defined as the vertical distance from the skywheel axis A to the mine opening 13 as the upper landing level for the conveyor 11 . This first distance d1 is fixed and is a known parameter. The second distance d2 is defined as the vertical distance from the mine opening 13 to the top of the conveyor 11 . The second distance d2 is at its maximum value when the transport aircraft is at the lower landing level. The third distance d3 is determined as the distance from the sky wheel axis A to the top of the conveyor 11, that is, the sum of the first distance d1 and the second distance d2. Normally it is the second distance d2 that determines the transverse resonance position along the vertical cord portion 9b, which will be described in more detail below. The lateral resonance location is the location along the vertical rope section 9b where lateral resonance occurs in the suspension cable 9a when a conveyor with a certain payload and speed arrives.

The mine drum hoist system 1 comprises a hoist drum control system 3 having a processing system 3a and a storage unit 3b. The storage unit 3b comprises computer executable components which when run on the processing system 3a cause the hoist drum control system 3 to perform the methods disclosed herein. In particular, the hoist drum control system 3 is configured to determine the current payload of the conveyor 11 . The hoist drum control system 3 may eg determine the current payload based on first and second force measurements performed by the first load sensor 7a and the second load sensor 7b respectively.

The hoist drum control system 3 is furthermore configured to obtain the hoisting speed of the hoist drum 5 in meters per second, which is the speed of the conveyor 11 , referred to herein as the first speed. The hoisting speed may be a pre-programmed parameter for operating the conveyor 11 or may be a real-time value obtained eg by measuring the number of revolutions of the hoist drum 5 per unit time.

The hoist drum control system 3 is furthermore configured to determine the transverse resonance position along the vertical rope portion 9b at which transverse resonance occurs in the suspension rope 9a when a conveyor 11 with a particular payload and speed arrives, and is configured to The first speed of the conveyor 11 is reduced in the speed reduction region including the transverse resonance position.

The transverse resonance position is determined by the hoist drum control system 3 based on the current payload and hoisting speed. The transverse resonance position is equivalent to the second distance d2 for certain positions of the conveyor 11 . By operating the lifting speed by reducing the first speed of the conveyor 11 to the second speed in the speed reduction zone, the transverse resonance position is moved from that determined by the hoist drum control system 3 to the moved transverse resonance position. By the shifted lateral resonance position is meant the lateral resonance position where the lateral resonance position is shifted due to the decrease in the first velocity. However, the suspension cable resonance does not occur when the conveyor 11 reaches the post-movement lateral resonance position, because the first speed is only reduced in the speed reduction region.

The mine drum hoist system 1 may comprise a motor M and a drive unit 15 . The hoist drum control system 3 may be configured to operate the motor M eg via the drive unit 15 to thereby control the winding and unwinding speed, ie hoisting speed, of the rope 9 from the hoist drum 5 . As a result the speed of the conveyor 11 can be controlled.

Fig. 3a schematically shows a side view of the sky wheel 7, one of the load sensors (in this example the first load sensor 7a), the catenary 9a and the vertical rope part 9b. The total force (the sum of the force values) F _tot measured by the first load sensor 7a and the second load sensor 7b is the vector sum of the weight of the sky wheel 7 and the tension of the rope (that is, it is regarded as a vector component with different directions but The sum of the forces provided by the vertical component _FR and the cable component _FR ), both of which have the same magnitude FR _.

According to a variant, the hoist drum control system 3 is arranged to determine the sum of the force values by adding the first force measurement F _La to the second force measurement F _Lb , as shown in Fig. 3b. According to a variant, the hoist drum control system 3 is configured to determine the current payload based on the sum F _tot of the force values being the absolute value of the vector sum of the first force measurement F _La and the second force measurement F _Lb. The current payload can be determined by subtracting the weight of the vertical rope portion 9b, the weight of the conveyor 11 and the weight of the sky wheel 7 from the sum F _tot of the force values. The resonance frequency f _C of the suspension cable, especially the fundamental resonance frequency can be expressed as:

where _LC is the length of the suspension cable 9a and m _r is the weight of the rope in mass/length units, eg kg/m. Transverse resonance in the suspension cable is obtained when an integer multiple of f _exc of the base rope kicking frequency is equal to the suspension cable resonance frequency f _C . The base rope kick frequency can be expressed as:

where v is the hoisting speed in m/s and D is the diameter of the hoist drum 5 . In case several layers of rope are wound onto the hoist drum 5, these are also taken into account when calculating the basic rope kicking frequency F _exc .

The rope tension value can be expressed as F _R =(m _c +m _l +d ₃ *m _r )*g, where m _c is the weight of the conveyor 11 and m _l is the current payload, the third distance d3=d1+d2, and g is the acceleration due to gravity. It can therefore be deduced from the relation f _exc =f _c that:

According to a variant, in view of equation (3), the hoist drum control system 3 may thus be configured based on, in addition to the payload and hoisting speed, the resonance frequency of the catenary rope 9a, the diameter D of the hoist drum 5, the occurrence The frequency of pulses in the rope at the intersection of the broken line rope grooves (i.e. the rope kicking frequency f _exc ), the length of the vertical rope portion from the center axis of the sky wheel (i.e. the sky wheel axis A) to the mine opening 13 (i.e. The first distance d1), the length of the suspension cable, the weight m _c of the conveyor and the weight m _r of the rope per length unit determine the transverse resonance position.

A method of controlling transverse resonance in the suspension cables 9a of a mine drum hoist system 1 by means of the hoist drum control system 3 will now be described with reference to FIG. 4 .

In step a), the current payload m _l of the conveyor 11 is determined by means of the processing system 3 a of the elevator drum control system 3 . The current payload can thus be determined eg in the manner described above.

As already mentioned previously, step a) may comprise receiving a first force measurement from a first load sensor 7 a of the skywheel 7 and a second force measurement from a second load sensor 7 b of the skywheel 7 . In this case step a) involves determining the sum of force values by adding the first force measurement to the second force measurement, wherein the current payload is determined based on the sum F _tot of force values. In particular, the current payload can be determined by subtracting the weight of the conveyor 11, the vertical rope portion 9b and the sky wheel 7 from the sum F _tot of the force values.

In step b), the hoisting speed v of the hoist drum 5 is determined. The lifting speed v, which is proportional to the first speed of the conveyor 11, can be proportional to the desired maximum speed of the conveyor (ie is a pre-programmed parameter), or can be determined in real time.

It should be noted that it is not necessary for steps a) and b) to be performed in the above order; their order can be interchanged.

In step c) the transverse resonance position (for a certain segment of the second distance d2) along the vertical rope portion 9b is determined. The lateral resonance position is determined based on the current payload _ml and based on the lifting speed v. According to a variant, the transverse resonance position can be determined with the aid of equation (3). Alternatively, the transverse resonance location may be retrieved from a look-up table in which a number of combinations of lift speed and current payload are stored.

According to a variant, the determination of the transverse resonance position in step c) is further based on the resonance frequency fc of the suspension cable, the diameter of the hoist drum 5, the frequency f _excc of the pulses in the rope 9 occurring at the intersection of the broken line grooves _5b , the length (i.e. the first distance d1) of the vertical rope portion 9b from the central axis of the sky wheel 7 (ie the sky wheel axis A) to the mine opening 13, the weight m _c of the conveyor, the length of the suspension cable 9a and the length of the rope per length Unit of rope weight m _r .

In step d) the first speed of the conveyor 11 is reduced by the elevator drum control system 3 by reducing the hoisting speed in the speed reduction zone comprising the transverse resonance position. The reduction of the first speed can thus be obtained eg by controlling the hoist drum control system 3 of the drive unit 15 which in turn operates the motor M driving the hoist drum 5 .

The velocity reduction region may be determined by retrieving the velocity reduction region already determined for the transverse resonance position during the tuning/calibration procedure. The velocity reduction zone may be based during the tuning procedure on the catenary proportional to the difference between the first force measurement F _La measured by the first load sensor 7a and the second force measurement F _Lb measured by the second load sensor 7b Lateral force value F _C to determine. This procedure will be described in more detail below.

Tuning of the control program for the hoist drum control system 3 is important to be able to determine the relevant transverse resonance positions in order thereby to obtain efficient transport of equipment, minerals and personnel by means of the conveyor 1 . Thus, prior to commissioning of the mine drum hoist system 1 and the hoist drum control system 3, the hoist drum control can be tuned or calibrated. The tuning procedure will be described below.

Turning to Figure 3c, this figure schematically shows a front view of the hoist drum 5, sky wheel 7, first load sensor 7a and second load sensor 7b. As can be seen in FIG. 3 c , the deflection angle α between the vertical central axis defined by the sky wheel and the suspension cables 9 a is shown in two extreme positions. The deflection angle α depends on how much the rope 9 has been unwound from the hoist drum 5 as the catenary line moves between left and right along the axial direction of the hoist drum 5 during the winding operation.

According to a variant, the hoist drum control system 3 is configured to: by means of the first force measurement F _La with the first load sensor 7a and the second load measurement F _Lb with the second load sensor 7b as already described previously The catenary component FR is determined as the rope tension, and the theoretical catenary side force value F _C1 is determined by multiplying the rope tension by sin α, ie FR _x sin(α), where α is the deflection _angle . The theoretical lateral force value _FC1 as shown for a plurality of second distances d2 is shown in the graph in Fig. 5a. The tuning procedure thus makes use of a first force measurement of the first load sensor 7a and a second force measurement of the second load sensor 7b measured along the entire mine shaft in which the conveyor 11 is transported vertically. It can be seen that the theoretical catenary lateral force value F _C1 changes as the conveyor 11 moves along the vertical axis in the mine (ie as the second distance d2 changes). In fact, the plot looks more like the example shown in Fig. 5b, where the greatly increased lateral kicking catenary oscillation force at resonance in catenary 9a is superimposed on the catenary side force value _FC1 . A plot with the catenary dynamometer value Fc is thus obtained. Then a plot like the one shown in Figure 5b, in which regions with increased suspension cable oscillations correspond to transverse resonance locations. Each catenary lateral force value Fc is proportional to the difference between the first force measure F _La and the second force measure F _Lb. The catenary lateral force value Fc can thus be determined based on the difference between the first force measurement F _La and the second force measurement F _Lb at the respective measurement point.

The magnitude of these suspension cable oscillation forces in the plot in Figure 5b can be utilized by, for example, a commissioning engineer to determine whether a lateral resonance location is large enough to induce a speed reduction of the conveyor, and thus determine a region of speed reduction near such a lateral resonance location. For this purpose, the commissioning engineer can, for example, calculate the difference between the maximum value and the minimum value of a plurality of values over a period of time. By studying the region in which the transverse resonance location occurs, the velocity reduction zone can also be determined, ie, how far before and how far behind the transverse resonance location the velocity reduction zone is limited. The speed reduction zone can be determined or obtained for example in a first step by a commissioning engineer by reasonable guesswork after studying and then drawing like the one presented in Fig. 5b. The conveyor 11 can then be subjected to a test drive with the determined speed reduction zone. The catenary lateral force value Fc is then again determined by means of being proportional to the difference between the first force measurement F _La and the second force measurement F _Lb at each measurement point. It can then be verified whether the determined/guessed velocity reduction zone is sufficient to reduce or eliminate suspension cable oscillations at the transverse resonance location, or whether the velocity zone must be modified. This procedure can be repeated/iterated until a satisfactory result is obtained. The speed reduction zones thus determined for a plurality of transverse resonance positions can then be stored by the hoist drum control system 3 . Thus, when the hoist drum control system 3 at a later time determines the lateral resonance position for a certain payload as described above for the purpose of controlling the lateral resonance in the suspension cable 9a, the hoist drum control system 3 It may be configured to determine the velocity reduction region for the transverse resonance position by retrieving a suitable velocity reduction region for the transverse resonance location during tuning/calibration.

Furthermore, the second speed, ie the reduced speed, can also be determined by the commissioning engineer. The method of controlling the transverse resonance in the suspension cable 9a can thus be tuned/calibrated.

Fig. 5c shows a plot where the value in Fig. 5a has been subtracted from the measured value in Fig. 5b, ie _Fc2 = _Fc - _Fc1 , to obtain an adjusted catenary lateral force value _Fc2 . The adjusted catenary lateral force value F _c2 provides a better tuned management since the graph extends parallel to the x-axis. Maximum and minimum limits can be defined and managed in a simple manner. According to a variant, the hoist drum control system 3 is configured to determine the value of the catenary lateral force _FC or the adjusted value of the catenary lateral force _FC2 between a maximum and a minimum of a plurality of values over a period of time difference.

The inventive concept has mainly been described above with reference to a few examples. However, as is readily appreciated by a person skilled in the art, other embodiments than those disclosed above are equally possible within the scope of the inventive concept as defined in the appended claims.

Claims (15)

1. A method of controlling transverse resonance in a suspension cable (9a) of a mine drum hoist system (1) comprising a hoist drum (5b) with a broken line rope groove (5b) ), a sky wheel (7), a rope (9) with a vertical rope portion (9b) and a suspension cable (9a) extending between said hoist drum (5) and said sky wheel (7), and a conveyor (11) attached to said vertical rope portion (9b), wherein said method comprises: a) determining the current payload of said transport aircraft (11), b) obtaining the hoisting speed of said hoist drum (5) corresponding to the first speed of said conveyor (11), c) determine the transverse resonance position along said vertical rope section (9b) where said conveyor (11) with said current payload and said first speed arrives at said suspension generating transverse resonance in the cable (9a), wherein said transverse resonance position is determined based on said current payload and said lifting speed, and d) reducing said first speed of said conveyor (11) in a speed reduction region including said transverse resonance position. 2. A method as claimed in claim 1, comprising receiving a first force measurement (F La ) from a first load cell (7a) of the skywheel (7) and a second force measurement (F _La ) from the skywheel (7) A second force measurement (F _Lb ) of the load cell (7b), wherein step a) involves determining a sum of force values by adding said first force measurement to said second force measurement, wherein said current payload Determined based on the sum of the force values. 3. The method according to claim 2, wherein said current payload is obtained by subtracting the weight of said vertical rope portion (9b), the weight of said conveyor (11 ) and the weight of said force value from the sum of said force values. Determine the weight of the sky wheel (7). 4. The method according to any one of the preceding claims, wherein determining the transverse resonance position in step c) is further based on the resonance frequency of the suspension cable (9a), the hoist drum (5) diameter (D), the frequency of pulses in the rope (9) that occur at the intersection of the broken line rope groove (9b), the vertical rope portion (9b) from the sky wheel (7) The length of the central axis (A) to the mine opening (13), the weight of the conveyor (11), the rope weight per unit length and the length of the suspension cables (9a). 5. A method as claimed in any one of claims 1 to 3, wherein in step c) the transverse resonance position is obtained from a look-up table containing Combine the pre-calculated transverse resonance positions. 6. The method according to any one of the preceding claims, wherein the step d) of reducing the first speed of the conveyor (11) involves reducing the lifting speed. 7. A method as claimed in any one of the preceding claims, comprising determining the speed reduction zone based on the lifting speed obtained in step b), wherein the determination of the speed reduction zone involves retrieving a speed reduction zone, which has been determined for the transverse resonance position and has been based on the first force measurement (F la ) measured by the first load sensor (7a) and the force measurement (F _la ) measured by the second load sensor (7b) The difference between the second force measurements (F _Lb ) is determined proportional to the lateral force value of the suspension cable (F _C ). 8. A computer program product comprising computer executable components which when executed by a processing system (3a) cause a hoist drum control system (3) comprising said processing system (3a) to perform as The method of any one of claims 1 to 8. 9. A hoist drum control system (3) configured to control transverse resonance of suspension cables in a mine drum hoist system (1) comprising a broken line rope The hoist drum (5) of the slot (5b), the sky wheel (7), the vertical rope section (9b) and the ropes (9) of suspension cables (9a), and a conveyor (11) attached to said vertical rope portion (9b), wherein said hoist drum control system (3) comprises: storage unit (3b), and processing unit (3a), wherein said storage unit (3b) comprises computer executable components which when executed by said processing system (3a) cause said hoist drum control system (3): determining the current payload of said transport aircraft (11), obtaining a hoisting speed of said hoist drum (5) corresponding to a first speed of said conveyor (11), determining a transverse resonance position along said vertical rope portion (9b) of said rope (9) to which said conveyor (11) is attached, at which transverse resonance position is obtained by having said current payload and said the arrival of said conveyor (11) at said first speed creates a transverse resonance in said suspension cables (9a), wherein said transverse resonance position is determined based on said current payload and said lifting speed, and The first speed of the conveyor (11) is reduced in a speed reduction region including the transverse resonance position. 10. The hoist drum control system (3) according to claim 10, wherein the processing unit (3a) is configured to receive a first load sensor (7a) from the sky wheel (7) force measurement (F _La ) and a second force measurement (F _Lb ) from a second load cell (7b) of the sky wheel (7), wherein the processing system (3a) is configured to The force measurement is added to a second force measurement to determine a sum of force values, and wherein said processing system (3a) is configured to determine said current payload based on said sum of force values. 11. Hoist drum control system (3) according to claim 9, wherein said processing system (3a) is configured to The weight of the transport plane (11) and the weight of the skywheel (7) are used to determine the current payload. 12. The hoist drum control system (3) according to any one of claims 9 to 11, wherein the processing system (3a) is configured to be based on the resonance frequency of the suspension cable (9a), the the diameter (D) of the hoist drum, the frequency of pulses in the rope that occur at the intersection of the broken line grooves of the hoist drum, the vertical rope section (9b) from the sky pulley (7 ) to the mine opening (13), the weight of the conveyor (11), the rope weight per unit length and the length of the suspension cable (9a) to determine the transverse resonance position. 13. A hoist drum control system (3) according to any one of claims 10 to 12, wherein said processing system (3a) is configured to obtain said transverse resonance position from a look-up table, said The look-up table contains pre-calculated transverse resonance locations for a number of different current payload and lift speed combinations. 14. The hoist drum control system (3) according to any one of claims 10 to 13, wherein the processing system (3a) is configured to determine the speed reduction zone based on the hoisting speed, Wherein the processing system (3a) is configured to determine the speed reduction region by retrieving the speed reduction region which has been determined for the transverse resonance position and has been based on and measured by the first load sensor A lateral force value of the suspension cable is determined proportional to the difference between the first force measurement and the second force measurement measured by the second load cell. 15. A mine drum hoist system (1) comprising: The hoist drum (5) has a broken line rope groove (5b), sky wheel (7), a rope (9) arranged to extend between said hoist drum (5) and said sky wheel (7) to thereby define a suspension rope (9a) and a vertical rope portion (9b), a conveyor (11), arranged to be attached to said vertical rope portion (9b), a motor (M), arranged to operate the hoist drum (5), and A hoist drum control system (3) according to any one of claims 10 to 14, arranged to control said motor (M).