Semi-Active Suppression of Longitudinal Vibration in Mine Hoisting Ropes Using Magnetorheological Damper and Output-Feedback Adaptive Sliding-Mode Control
Severe longitudinal vibrations and abnormal tension fluctuations in hoisting ropes pose significant threats to the safe and stable operation of mine hoisting systems. To address these issues, this paper proposes a semi-active vibration-suppression strategy combining a magnetorheological damper (MRD) with output-feedback adaptive sliding-mode control (ASMC). A dynamic model of the MRD-equipped hoisting system is developed using Hamilton’s principle. The nonlinear hysteresis of the MRD is described by a simplified extended hyperbolic tangent function model (SEHTFM), and an inverse model converts the desired control force into a feasible real-time current command. Using only displacement and velocity measurements at the conveyance–rope connection, the ASMC compensates for matched uncertainties, including boundary excitation, modeling and truncation errors, and force-realization errors. Numerical simulations compare an optimized passive viscous damper benchmark, SMC–MRD, and ASMC–MRD responses under varying payloads, accelerations, and hoisting speeds. During constant-speed operation, ASMC–MRD achieves peak reduction rates of 82.8% in dynamic displacement and 77.6% in dynamic tension relative to the optimized passive benchmark. The results demonstrate accurate force realization with small bounded tracking errors and improved robustness under variable operating conditions.