applied

sciences
Article
A New Transmission Theory of “Global Dynamic
Wrap Angle” for Friction Hoist Combining
Suspended and Wrapped Wire Rope
Yongbo Guo 1, * , Dekun Zhang 2, *, Xinyue Zhang 2 , Dagang Wang 2 and Songquan Wang 1
1 School of Mechatronic Engineering, JiangSu Normal University, Xuzhou 221116, China; wbplsz@163.com
2 School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China;
Zhangxy@cumt.edu.cn (X.Z.); wangdg@cumt.edu.cn (D.W.)
* Correspondence: ybguo@jsnu.edu.cn (Y.G.); dkzhang@cumt.edu.cn (D.Z.)




Received: 13 January 2020; Accepted: 12 February 2020; Published: 14 February 2020


Abstract: A new transmission theory of “global dynamic wrap angle” for friction hoist is proposed.
The theory is based on a mine hoist simulation model which combines the suspended rope with the
wrapped rope. Rope dynamics in a suspended section are verified by the field experiment results.
The theory holds that the mechanical state of wire rope is dynamic through the whole wrap angle,
including deformation, contact and friction. When the rope enters the wrap angle, it provides positive
friction and changes direction at a certain boundary point. The demarcation of the boundary depends
on the rope load on both sides of the friction pulley. The theory is suitable for accurately analyzing
the kinetics of high-speed and heavy-load friction hoisting.

Keywords: Hoisting Rope; Rope Dynamics; dynamic wrap angle; Friction Transmission

1. Introduction
Multi-rope friction hoists are widely used in deep and ultra-deep coal mine hoisting for their
remarkable advantages, such as their large capacity, high lifting height, high safety factor, low power
consumption, small machine size and cost-effectiveness. The friction hoist (Figure 1) relies on the
friction force between the rope and the pulley to transport goods or staff. With the development of
modern large-scale friction hoisting, the problems of dynamic characteristics, which are not obvious
in low-speed and light-load conditions, are gradually reflected, for example, in rope vibration and
slippage [1,2]. During dynamic operations, especially in severe conditions such as acceleration and
emergency braking, the long-distance suspended rope will produce large elastic vibrations and tension
impacts under the influence of the terminal heavy container [3–5]. The vibration impact produces
not only longitudinal tension, but also horizontal and torsional vibration due to the transmission of
the shock wave [6,7]. Especially when the depth and speed of the mine are continuously increasing,
the time-varying characteristics of the rope length and the swirl of the wellbore gas flow [8] at the
bottom of the container caused by the rapid speed change will intensify the vibration [3,9]. When the
vibration is transmitted upward to the friction pulley along the rope, it leads to abnormal contact,
dynamic slip and even disengagement [10] between the rope and pulley, which will seriously reduce
the friction stability. Therefore, it is of great importance to combine the suspended ropes on both sides
of the pulley with the wrapped rope on the pulley in order to accurately obtain their dynamic behaviors.
Especially for the rope on the pulley, its effective friction contact with the pulley is an important
guarantee for the working efficiency and anti-skid safety of the hoist. Many scholars have conducted
abundant research on the dynamics of suspension rope hoisting systems. Kaczmarczyk [11,12]
established the classical distributed parameter dynamic model of the kilometre hoisting rope based

Appl. Sci. 2020, 10, 1305; doi:10.3390/app10041305 www.mdpi.com/journal/applsci

Appl. Sci. 2020, 10, 1305 2 of 17

Appl. Sci. 2020, 10, 1305 2 of 20

on Hamilton’s principle and described the transverse-longitudinal coupling dynamic response for
the first time.model of the kilometre hoisting rope based on Hamilton’s principle and described the
On this basis, Zhu [13] calculated the dynamic responses of a one-dimensional system
transverse-longitudinal coupling dynamic response for the first time. On this basis, Zhu [13]
with a spatial discretization
calculated the dynamicmethod.
responsesThe method wassystem
of a one-dimensional applied
withto study
a spatial the longitudinal,
discretization method. transverse,
and coupledThe vibrations
method wasin moving
applied elevator
to study cable-car
the longitudinal, systems
transverse, and [14].
coupledMeanwhile, a rope vibration
vibrations in moving
elevator cable-car systems [14]. Meanwhile, a rope vibration parameter analysis based on Hamilton’s
parameter analysis based on Hamilton’s principle has also been widely conducted [15–17].
principle has also been widely conducted [15–17].

Friction pulley
Friction pulley
Bearing Shaft
Motor

Lifting rope

Rope
L(t)
Brakes
Measuring Empty
position container Friction
lining
Picture of real products

Loaded
container

Tail rope

Figure 1. Schematic diagram of a large cage hoisting system in an auxiliary shaft of a coal mine.
Figure 1. Schematic diagram of a large cage hoisting system in an auxiliary shaft of a coal mine.
The above studies are mainly focused on the dynamic characteristics of the rope itself.
The above studies
However, in are mainlynumerical
the present focusedanalysis
on the method
dynamic characteristics
based on Hamilton’s of the rope
principle, the itself.
initial However, in
mechanical boundary conditions at the point where the rope meets or separates from the pulley are
the present numerical analysis method based on Hamilton’s principle, the initial mechanical boundary
either set to zero or applied with a constant-amplitude sinusoidal excitation [3,18], which causes the
conditions at“mechanical
the pointlink” where between thetherope meetsrope
suspended or and
separates
the wrappedfrom ropethe pulley
to be areTherefore,
truncated. either set to zero or
applied with a constant-amplitude sinusoidal excitation [3,18], which causes the “mechanical link”
these numerical methods do not establish the relationship between the suspended rope dynamics
between theand the friction contact in the wrap angle, and are thus unable of determining the rope vibration
suspended rope and the wrapped rope to be truncated. Therefore, these numerical
entering the wrap angle during operation. Currently, either the classical Euler formula or the
methods do deformation
not establish formula thearerelationship
used in the design between the suspended
or calculation rope dynamics
of friction transmission. and the friction
The theoretical
contact in the wrap angle, and are thus unable of determining the rope vibration entering
calculation theory of friction transmission of modern large-scale equipment seems inaccurate to the wrap
some extent. At the beginning, the formula was used to calculate the belt transmission, while the
angle during operation. Currently, either the classical Euler formula or the deformation formula are
calculation method of wire rope friction transmission is a direct reference to the Euler formula. It is
used in the design or that
considered calculation
the contact of friction
process transmission.
between the belt and pulleyThecan theoretical
be divided into calculation theory of friction
two stages. First,
the viscous stage is when the belt and pulley are relatively static, which
transmission of modern large-scale equipment seems inaccurate to some extent. At the beginning, is also called the static angle.
Next, the creep stage is when the belt and pulley slip relative to one another, which is also called the
the formula dynamic
was used to calculate the belt transmission, while the calculation method of wire rope
angle. Lubarda [19] calculated the changes in the friction and pressure in the contact area
friction transmission
between the is belt
a direct reference
and pulley in the to the Euler
dynamic angle,formula.
and notedItthe is non-orthogonal
considered that the contact process
relationship
between
between the belt andthepulley
frictioncanandbe positive
divided pressure.
into However,
two stages. he did not consider
First, the viscous the mechanical
stage is wheninput the belt and
outside the wrap angle. Wang [20,21] explored the effects of the payload, speed, and acceleration on
pulley are relatively static, which is also called the static angle. Next, the creep
the dynamic friction transmission and creeping properties. However, it is limited to the longitudinal
stage is when the belt
and pulley slip relative
tension to one without
characteristics another, which is
considering thealso called
transverse andthe dynamic
longitudinal angle. Lubarda [19] calculated
vibration.
the changes in the Consequently,
friction and the pressure
traditional intheoretical model area
the contact of friction
betweentransmission
the belt based
andonpulley
static and
in the dynamic
dynamic angle theory is not applicable when the load, depth or speed of the hoist increase
angle, and noted the non-orthogonal relationship between the friction and positive pressure. However,
continuously. The objective of the present study is to establish a new transmission theory for friction
he did not consider the mechanical input outside the wrap angle. Wang [20,21] explored the effects of
2
the payload, speed, and acceleration on the dynamic friction transmission and creeping properties.
However, it is limited to the longitudinal tension characteristics without considering the transverse
and longitudinal vibration.
Consequently, the traditional theoretical model of friction transmission based on static and
dynamic angle theory is not applicable when the load, depth or speed of the hoist increase continuously.
The objective of the present study is to establish a new transmission theory for friction hoisting system
combining suspended and wrapped wire rope. The research results lay a solid foundation for studying
the dynamic characteristics of rope transmitting behaviors with high-speed and heavy-load working
conditions in a modern friction hoisting system.
Appl. Sci. 2020, 10, 1305 3 of 17

2. Hoisting Model

2.1. Hoist Equipment Parameters

Figure 1 shows a large cage hoisting system in the auxiliary shaft. Table 1 lists the main parameters
of the large cage hoisting system in an auxiliary shaft of coal mine. Table 2 lists the speeds and times of
each stage of the lifting process.

Table 1. Parameters of large cage hoisting system.

Item Unit Friction Pulley Guide Pulley

Type JKM-5 × 6
Lifting height m 425
Pulleys Spacing m Vertical:13/horizontal:3.35
Hoist Diameter m 5 5
Number 6 6
Friction coefficient 0.25 0.25
wrap angle ◦ 187.42
Item Unit Hoisting rope Tail rope
Type 54 × 36WS + FC 216 × 34 × 4 × 19 + FC
Diameter/Width × Thickness mm 54 216 × 34
Rope Number 6 3
Density kg/mm3 4.72 × 10−6 23
Total length m 523.08 481.5
Item Unit
Cage mass 0.65 × 105
Balance hammer mass 0.95 × 105
Load MAX kg 1.2 × 105
Test load(total) MID 5
0.95 × 10 (mainly discussed)
MIN 0.7 × 105

Table 2. Operating parameters (Acceleration and Constant Speed stage).

Stage Acceleration (m/s2 ) Speed (m/s) Time (s)

Varying 0~0.6 0.51 1.71
Constant 0.6 9.43 14.87
Main acceleration Varying 0.6~0 9.95 1.71
Total 18.29
Constant speed Constant 0 9.95 24.45

2.2. Modelling Process

According to the relevant parameters of the large cage hoisting system above, the global dynamic
simulation model of the actual hoisting system was established using multi-body dynamics simulation
software “Adams”. The characteristics of the model state that the dynamics of the wire rope on the
lifting side and the lowering side, as well as the coupling effect of the rope with the friction pulley and
the guide pulley, are unified as a whole. The mine system is a multi-rope friction hoisting system of
the shaft tower. The global simulation model is then simplified as follows:
The pulleys are simplified as uniform materials, and the groove shape is ideal and regular;
The weight of the tail rope is simplified as a time-varying force corresponding to the lifting height,
which is applied to both the cage and the balance hammer;
The actual lifting system is supported by six steel ropes. In the model, only a single steel rope is
established, and the load is calculated according to 1/6 of the original load;
Appl. Sci. 2020, 10,Appl.
1305Sci. 2020, 10, 1305 4 of 20 4 of 17

The weight of the tail rope is simplified as a time-varying force corresponding to the lifting
height, which is applied to both the cage and the balance hammer;
On the basis Theof the above simplification, the friction pulley, guide pulley, wire rope, cage and
actual lifting system is supported by six steel ropes. In the model, only a single steel rope is
balance hammer established, and the load is The
are established. model
calculated is shown
according to 1/6 ofin
theFigure 2. The parameters of the model are
original load;
On the basis of the above simplification, the friction
consistent with those of the hoist equipment mentioned above. According pulley, guide pulley, wire
to rope, cage and provisions of
the relevant
balance hammer are established. The model is shown in Figure 2. The parameters of the model are
the China coalconsistent
industry standard
with those of theMThoist 234-1991 “3T Tramcar,
equipment mentioned Multi-rope
above. According tank cage
to the relevant for vertical shaft”
provisions
and MT 235-2011 “Vertical
of the multi-rope
China coal industry standardcage balance
MT 234-1991 "3Thammer”, the 3D
Tramcar, Multi-rope tank models of theshaft
cage for vertical cage and balance
"and MT 235-2011" Vertical multi-rope cage balance hammer ", the 3D models of the cage and
hammer are established.
balance hammer are established.

(a) (b) (c)

Figure 2. Dynamic model of the friction hoist. (a) Cage; (b) Balance hammer; (c) Pulleys.
Figure 2. Dynamic model of the friction hoist. (a) Cage; (b) Balance hammer; (c) Pulleys.
2.2.1. Contact Definition
2.2.1. Contact Definition
As the transmission bridge of the entire hoisting system, the accuracy of the rope modelling is
the key of the entire
As the transmission bridgesimulation
of themodel,entireespecially
hoistingfor unifying
system, thethe
construction
accuracy of the
ofrope
theinrope
the modelling is
suspension section and the rope in the wrap angle section. Therefore, it is necessary to dynamically
the key of the define
entire thesimulation
friction contactmodel,
parameters especially
between the forrope unifying
and the pulleythesurface
construction
after enteringofthethe rope in the
suspension section
frictionand theThe
pulley. roperopeinisthe
thenwrap angleinto
discretized section.
spheres. Therefore,
Compared with it isthenecessary
conventionalto dynamically
cylindrical model, the spherical model has a higher accuracy, which can accurately reflect the
define the friction contact parameters between the rope and the pulley surface
geometric shape of the rope in contact with the pulleys, and can realize the lateral displacement
after entering the friction
pulley. The rope is then
limitation discretized
of the rope groove.into spheres.
The mass Compared
and inertia with
effects are also the conventional
included in the contact area.cylindrical
The model,
contact force
the spherical model has between
a higher the accuracy,
discrete rope which
sphere andcan theaccurately
surface of thereflect
pulleys istheexpressed by a shape of the
geometric
function Fim. More details about the function can be found in [1].
rope in contact with Thetheropepulleys,
is located and
in thecan realize
groove of the the lateral
pulley. displacement
The sizes limitation
of the rope grooves are shownof inthe rope groove.
The mass and inertia effects are also included in the contact area. The contact force between the discrete
Figure 3. The contact geometry of the groove and the discrete rope sphere is spherical to cylindrical,
i.e., the inner cylindrical surface of the groove contacts the outer spherical surface of the rope.
rope sphere and the surface of the pulleys is expressed by a function Fimforce,
Hertzian contact theory is then applied to calculate both the contact force and friction
. More details about the
and then
function can bethefoundresultantin force
[1]. is obtained. The definition of friction is given in [1], and the dimensional
The rope isparameters
locatedincludein thethe Depth, Radius, Angle and contact parameters k, e, and cmax. Their specific
groove of the pulley. The sizes of the rope grooves are shown in Figure 3.
values are shown in Table 3.
The contact geometry of the groove and the discrete rope sphere is spherical to cylindrical, i.e., the inner
cylindrical surface of the groove contacts the outer spherical surface of the rope. Hertzian contact
theory is then applied to calculate both the contact force and friction force, and then the4 resultant force
is obtained. The definition of friction is given in [1], and the dimensional parameters include the Depth,
Radius, Angle and contact parameters k, e, and cmax . Their specific values are shown5 ofin20Table 3.
Appl. Sci. 2020, 10, 1305

Figure 3. Parameters of the pulley and rope grooves.

Figure 3. Parameters of the pulley and rope grooves.
2.2.2. Discrete Element Mechanics Beam
2.2.2. Discrete Element Mechanics Beam
Each adjacent pair of discrete spheres are connected by a mechanical beam element. The
Each adjacent pair
non-linear of discrete beam
Euler-Bernoulli spheres
[22],are connected
which by a mechanical
is more suitable beam
for mine hoisting withelement. The non-linear
a large axial
load, is applied in the Adams simulation to obtain the exact solution in this paper. The mechanical
Euler-Bernoulli beam [22], which is more suitable for mine hoisting with a large axial load, is applied
beam includes six axial forces and six torsional forces. A detailed description of the model is given in
[2]. It should be noted that the stiffness matrix of the model is modified by three correction factors.
The stiffness matrix Kij is expressed as:

 K11 = EA L × Rkx 
 
 K 22 = 12 E ⋅ Izz  L (1 + Py ) 
3

 
Appl. Sci. 2020, 10, 1305 5 of 17

Figure 3. Parameters of the pulley and rope grooves.

in the Adams simulation to obtain the exact solution in this paper. The mechanical beam includes six
axial forces and
2.2.2.six torsional
Discrete Elementforces.
Mechanics ABeamdetailed description of the model is given in [2]. It should be
noted that the stiffness matrix
Each adjacent pair ofofthe model
discrete is modified
spheres are connected by three by a correction factors.
mechanical beam TheThe
element. stiffness matrix
non-linear
Kij is expressed as: Euler-Bernoulli beam [22], which is more suitable for mine hoisting with a large axial
load, is applied in theAdams simulation to obtain the exact solution in this paper.  The mechanical
beam includes six axial

 K11 =
 forces andEA/L × Rkx
six torsional h forces.
 A detailed
i

description of
the model is given in
3 the
 
[2]. It should be noted K22the=stiffness
that 12E · Izz/ matrixLof 1 +model
P y is modified by three correction factors.

 


 

The stiffness matrix Kij is expressed as:

 h  i



K26 K = −6E · Izz/ L2 1 + P y

 

 11 = EA L × Rkx 

 

 
 
 
 33 K 22 = 12 E ⋅ Izz  (1 + Py ) z
 h i 
 33

 

 K = 12E · Iyy/ L ( 1 + P ) × Rkb 



 
 
(1)
 
 ( yz ) 

h i
 K = − 6 E ⋅ Izz 2L 2
1 + P 
 

 K =
35 26 6E · Izz/ L  ( 1 + P ) × Rkb


 

 

 
K  ( )  
 3

 = 12 E ⋅ Iyy L 1 + P × Rkb 
 
K = G · Ixx/L × Rkt 
 
 44 33 z 
 
 
  (1)
( )
 
 K = 6 E ⋅ Izz  L 2
1 + P  × Rkb 
 
35 (4 + P )E · Iyy/ [zL( 
 
 K 55 = z 1 + P z )] × Rkb 
  i 

 

 
 K K 44 = G ⋅ Ixx L × Rkt

  h  

 
66 = 4 + P y E · Izz/ L 1 + P y × Rkb 
 

 K55 = ( 4 + Pz ) E ⋅ Iyy  L (1 + Pz )  × Rkb 
The purpose of the Rkx, Rkb,  and Rkt inputs is to represent an orthotropic material property.
 66 in( the yaxial
K = 4 + P ) E ⋅ Izz  L (1 + Py )  × Rkb 
These are multipliers on the stiffness (Rkx), bending (Rkb)  and twisting (Rkt) directions.
Cables commonly The bend
purpose of the more
much Rkx, Rkb, and Rktthan
easily inputs is to stretch
they represent and
an orthotropic material property.
twist. Therefore, the following is
These are multipliers on the stiffness in the axial (Rkx), bending (Rkb) and twisting (Rkt) directions.
set: Rkx = 1.0, Rkb << 1.0 and Rkt < 1.0. The specific values of each parameter are shown in Table 3.
Cables commonly bend much more easily than they stretch and twist. Therefore, the following is set:
The notes andRkxdefinitions
= 1.0, Rkb << of
1.0the
and other parameters
Rkt < 1.0. in theofabove
The specific values formulaareare
each parameter given
shown in [2].
in Table The final model
3. The
notes and definitions of the other parameters in the above formula are given in [2].
of the friction hoisting system and the contact section of the friction pulley are shown in Figure 4. The final model
of the friction hoisting system and the contact section of the friction pulley are shown in Figure 4.

Figure 4. Model of the contact section between the rope and pulley.
Figure 4. Model of the contact section between the rope and pulley.
2.2.3. Parameters
2.2.3. ParametersThe parameters of the friction pulley, guide pulley and wire rope in the global hoisting model
are shown in Table 3.
The parameters of the friction pulley, guide pulley and wire rope in the global hoisting model are
5
shown in Table 3.

Table 3. Parameters of the global hoisting model.

Item Unit Value

Diameter m 5
Pulleys Centre distance m Vertical 13, horizontal
3.35
Width mm 600
Depth mm 50
Rope groove Radius mm 27
Angle ◦ 20
Friction coefficient 0.25
Contact
Hertz k/e/cmax 10,000/2/0.1
Diameter mm 54
Density Kg/mm3 4.72 × 10−6
Rope Elastic modulus MPa 1.15 × 105
Tensile(Rkx)/Bending(Rkb)/Torsional (Rkt)stiffness coefficient 1.0/0.001/0.01
Damping 0.01
Discrete number 1701
 Rope groove Radius mm 27
Angle ° 20
Friction coefficient 0.25
Contact
Hertz k/e/cmax 10,000/2/0.1
Diameter mm 54
Density Kg/mm3 4.72×10-6
Appl. Sci. 2020, 10, 1305 Elastic modulus MPa 1.15×105 6 of 17
Rope Tensile(Rkx)/Bending(Rkb)/Torsional
1.0/0.001/0.01
(Rkt)stiffness coefficient
Damping 0.01
3. Results Discrete number 1701

3.1. Verification Test

3. Results

3.1. Verification Test

3.1.1. Test Scheme
3.1.1. Test Scheme
The vibration of the steel wire rope on the top of cage is tested by a portable multi-channel
vibration measuringvibration
The of the system.
instrument steel wire The
rope on
testthelocation
top of cage
and is tested by a portableofmulti-channel
the definition vibration direction in
vibration measuring instrument system. The test location and the definition of vibration direction in
this paper arethis
described in Figure 5, and the field test process is shown in Figure
paper are described in Figure 5, and the field test process is shown in Figure 6.
6.

Measuring point
Rope
1 2
3 4

Connector

Cage

Figure 5. Vibration testing scheme of the wire rope above the cage.
Figure
Appl. Sci. 2020, 10, 1305 5. Vibration testing scheme of the wire rope above the cage. 7 of 20

Connector Rope

Above the cage

Figure 6. Field test photos.

Figure 6. Field test photos.
3.1.2. Test Result
3.1.2. Test Result
Figure 7 shows the transverse rope vibration waveform (as shown in Figure 5, cage short side
Figure 7direction,
showsmeasuring point 1, 9.95
the transverse m/s speed
rope lifting).waveform
vibration The main characteristic
(as shownof each
inmeasuring
Figure 5,point
cage short side
is unstable vibration similar to spindle amplitude during the acceleration process. The unstable
direction, measuring point 1, 9.95 m/s speed lifting). The main characteristic of each measuring
vibration of spindle type lasts about 3 seconds, and then the rope operates smoothly. The amplitudes
point is
unstable vibration similar to spindle amplitude during the acceleration process. The
at points 1 and 2 are greater than those at points 3 and 4 because points 3 and 4 are closer to theunstable vibration
container.
of spindle type lasts The positions
about of point 1and
3 seconds, and point
then2the are relatively far from the
rope operates binding connector,
smoothly. and the
The amplitudes at points
flexible characteristics of the wire rope are more easily stimulated.
1 and 2 are greater than those at points 3 and 4 because points 3 and 4 are closer to the container.
The positions of point 1 and point 2 are relatively far from the binding connector, and the flexible
characteristics of the wire rope are more easily stimulated.
The basic vibration level of the rope is analyzed to determine the vibration magnitude of the hoist
√
system. Figure 8 illustrates the effective vibration velocity (maximum / 2) at each measuring point
of the rope in different directions. The influence of the time-varying parameter of the lifting speed
on the vibration stability of the system is reflected. The increase in speed increases the instability of
the system, resulting in enhanced rope vibration. The vibration in the X direction (long side direction

Figure 7. Local nonstationary rope vibration diagram for each measuring point.

The basic vibration level of the rope is analyzed to determine the vibration magnitude of the
 Above the cage

Figure 6. Field test photos.

3.1.2. Test Result

Figure 7 shows the transverse rope vibration waveform (as shown in Figure 5, cage short side
Appl. Sci. 2020, 10, 1305 7 of 17
direction, measuring point 1, 9.95 m/s speed lifting). The main characteristic of each measuring point
is unstable vibration similar to spindle amplitude during the acceleration process. The unstable
vibration of spindle type lasts about 3 seconds, and then the rope operates smoothly. The amplitudes
of the cage) is
at the smallest,
points 1 and 2 areand thatthan
greater of those
the Zatdirection
points 3 and(short side
4 because direction
points of the
3 and 4 are cage)
closer to theis the largest.
container.
Position difference ofThe positions of
vibration point 1 andispoint
intensity 2 are relatively
discussed in thefar4th
from the binding
section connector,
of the paper. and the
flexible characteristics of the wire rope are more easily stimulated.

Figure 7. Local nonstationary rope vibration diagram for each measuring point.
Figure 7. Local
Appl. Sci. 2020, 10, 1305nonstationary rope vibration diagram for each measuring point.
8 of 20
The basic vibration level of the rope is analyzed to determine the vibration magnitude of the
hoist system. Figure 8 illustrates the effective vibration velocity (maximum /√2) at each measuring
point of the rope in different directions. The influence of the time-varying parameter of the lifting
m/s)

m/s)

speed on2 the vibration stability of the system is reflected. The increase in speed increases the
1 12
instability of the system, resulting in enhanced rope vibration. The vibration in the X direction (long
velocity(m

velocity(m

10
side direction
0
of the cage) is the smallest, and that of the Z 1direction (short side direction of the cage)
8 8
is the largest. Position difference of vibration intensity is discussed in the 4th section of the paper.
6 6
vibration

vibration

4 4
2 4 2 4
Effective

Effective

int
0 3 0 3
int

po
5

5
po

ng
2 2
4

4
ng

Lift Lift

uri
in in
uri

as
gs gs
3

3
as

pee 1 pee 1 Me
Me

d d
2

(m (m
/s) /s)

(a) (b)
m/s)

12
velocity(m

10
8
6
vibration

4
2 4
Effective

int

0 3
po
5

ing

2
4

Lif
ur

tin
as

g
3

1
Me

sp
ee
d(m
2

/s)

(c)
Figure 8. Effective vibration velocity of the rope in different directions. (a) Long side direction, axis
Figure 8. Effective vibration velocity of the rope in different directions. (a) Long side direction, axis X;
X; (b)Vertical direction, axis Y; (c) Short side direction, axis Z.
(b) Vertical direction, axis Y; (c) Short side direction, axis Z.
3.2. Suspended Rope Dynamics
3.2. Suspended Rope Dynamics
3.2.1. Vibration
3.2.1. Vibration Figure 9 shows the simulation and test signals of the transverse (cage short side) vibration of the
5th rope element (0.5m above the cage). The simulation results of the first 14 s are intercepted. The
Figure 9 shows theresults
simulation simulation and agreement
are in good test signals with ofthethe transverse
field test. Similar(cage
dynamic short side) vibration of
nonstationary
the 5th rope element (0.5m above the cage). The simulation results of the first 14 s ofare
phenomena occur in the acceleration stage, i.e., the "spindle" vibration. The characteristics both
intercepted.
can be divided into two stages. In the period of unstable vibration, the amplitude of the first third
The simulationincreases,
resultswhile
are in good agreement with the field test. Similar dynamic
that of the second third decreases. They are close in amplitude, extremum and
nonstationary
phenomena occur in the
duration. acceleration
Spectrum stage,
analysis shows thati.e., the "spindle"
the frequencies of eachvibration. The
signal are close characteristics
to 16 Hz. The high of both
similarity indicates that the simulation model achieves high accuracy and reliability.
can be divided into two stages. In the period of unstable vibration, the amplitude of the first third
increases, while that of the second third decreases. They are close in amplitude, extremum and duration.
Spectrum analysis shows that the frequencies of each signal are close to 16 Hz. The high similarity
indicates that the simulation model achieves high accuracy and reliability.

8
Appl. Sci. 2020, 10, 1305 8 of 17
Appl. Sci. 2020, 10, 1305 9 of 20

Appl. Sci. 2020, 10, 1305 9 of 20

Figure 9. Test and simulation of transverse rope vibration acceleration at 0.5 m above the cage.
Figure 9. Test and simulation of transverse rope vibration acceleration at 0.5 m above the cage.
Figure 10 shows the vibration acceleration in three directions of the rope at 0.5 m above the cage
Figure 10andshows
hammer.the The vibration acceleration
vibration intensity in three
in the X direction directions
is low, and only a few of sudden
the rope
Figure 9. Test and simulation of transverse rope vibration acceleration at 0.5 m above the cage.
peaksat 0.5 m above the
appear.
The vibration of the Y direction is ladder-shaped under the influence
cage and hammer. The vibration intensity in the X direction is low, and only a few sudden peaks of lifting acceleration. Multiple
nonstationary vibrations
Figure 10 shows appear inacceleration
the Z direction, anddirections
the strength is rope
the highest
at 0.5 mamong
above the three
appear. The vibration
directions. The thethe
ofY-direction vibration
Y direction
vibration amplitude
in three
is ladder-shaped
above the under
cage
of the
increasestheininfluence
the constant of the cage
lifting
speed stage acceleration.
and hammer. The vibration intensity in the X direction is low, and only a few sudden peaks appear.
Multiple nonstationary
due to the vibrations
continuous appear
shortening of in
the the
rope Z direction,
length (lifting and
movement).the strength
In addition,
The vibration of the Y direction is ladder-shaped under the influence of lifting acceleration. Multiple is the
on the highest
side of among the
the
three directions. hammer,
nonstationary this phenomenon
The Y-direction
vibrations appear is exactly
vibration the opposite.
in the Zamplitude
direction, andabove the iscage
the strength increases
the highest among inthe
the constant speed
three
stage due to directions. The Y-direction vibration amplitude above the cage increases in the constant speed stage
the continuous 0 5
shortening
10 15
of
20 of 25
the30
rope length (lifting0
movement).
5 In10addition,
15
In
20 on25
addition, on the side
due to the continuous shortening the rope length (lifting movement). the 30
side of
0.10 Axis X
of the hammer, this phenomenon is exactly the
the hammer, this phenomenon is exactly the opposite. opposite. 0.3
0.2
Axis X
0.05
0.1
0.00
0.0
-0.05 0 5 10 15 20 25 30 -0.1 0 5 10 15 20 25 30
0.10 Axis X 0.3
-0.2 Axis X
(m/s )

-0.10
2

0.05 0.2
-0.3
(m/s )
2

Axis Y 0.1 Axis Y

0.2
acceleration

0.00
0.6 0.0
0.0
Vibration(acceleration

-0.05 -0.1
0.4 -0.2
-0.2
)

-0.10
2

-0.4
Vibration(m/s

0.2 -0.3
m/s )
2

Axis Y -0.6
0.2 Axis Y
Vibration acceleration

0.6
0.0 -0.8
5.0 0.0
Vibration acceleration

0.4 Axis Z 10
-0.2 Axis Z
2.5 -0.45
0.2
-0.6
0.0 -0.80
0.0
5.0 -5
-2.5 Axis Z 10 Axis Z
2.5 Acceleration stage Constant speed stage -10 Acceleration stage Constant speed stage
-5.0 5
0 5 10 15 20 25 30 0 5 10 15 20 25 30
0.0 Time(s) 0 Time(s)
-2.5 -5
(a) (b)
Acceleration stage Constant speed stage -10 Acceleration stage Constant speed stage
-5.0
0 Vibration
Figure 10. 5 10 acceleration
15 20 in
25three 0 m. (a)
30 directions of the rope at 0.5 5 Above
10 15 20
the cage; 25 above
(b) 30
Time(s) Time(s)
the hammer.
(a) (b)
3.2.2. Tension
Figure 10. Vibration acceleration in three directions of the rope at 0.5 m. (a) Above the cage; (b) above
Figure 10. Vibration acceleration in three directions of the rope at 0.5 m. (a) Above the cage; (b) above
The
the rope dynamics at the special locations are selected to reveal the differences caused by the
hammer.
the hammer.
rope length and position. Figure 11 shows the dynamic rope tension at the anchors and midpoints.
3.2.2. Tensiontensions at each midpoint are similar to those in [3]. As seen from Figure 11a, the overall
The relative
3.2.2. Tensionrope tensions of the lifting side increase with the lifting process. The increases occur because the
The rope dynamics at the special locations are selected to reveal the differences caused by the
tension reflects the load of the component below the point, and the tail rope beneath the tension
rope length and position. Figure 11 shows the dynamic rope tension at the anchors and midpoints.
The rope dynamics
acquisition atcontinues
the special locations are proceeds.
selected to reveal the differences caused by the
The relative point
tensions at each to lengthen
midpoint assimilar
are the lifting
to those in [3]. As seen from Figure 11a, the overall
rope length and position.
rope tensions of theFigure 11 shows
lifting side increase the
with dynamic rope tension
the lifting process. at the
The increases anchors
occur and midpoints.
because the
The relative tensions at each
tension reflects midpoint
the load are similar
of the component belowto those
the point,inand[3].
theAs
tail seen from Figure
rope beneath 11a, the overall
the tension
rope tensionsacquisition point continues to lengthen as the lifting proceeds.
of the lifting side increase with the lifting process. The increases occur because 9 the tension
reflects the load of the component below the point, and the tail rope beneath the tension acquisition
point continues to lengthen as the lifting proceeds.
9
In the acceleration stage of Figure 11b,c, there is a significant abrupt amplitude that corresponds
to the “spindle” rope vibration in the Z direction and the amplitude intensification in the Y direction
in Figure 10, i.e., dynamic nonstationary vibration of the rope occurs on both sides of the friction
pulley at the same time. This shows that the “mechanical transfer” effect in the wrap angle cannot be
neglected. Compared with the traditional independent modelling method of single-side wire rope
dynamics [10,13,14], the global dynamic model considering dynamic friction transmission within the
wrap angle has higher accuracy and reliability. In the single-side rope model, the starting point of
modeling is the boundary condition, and the displacement and velocity are both 0. However, under
Appl. Sci. 2020, 10, 1305 9 of 17

actual working conditions, this point is not only affected by the friction contact of the pulley, but also
by the lifting effect of the rope in the wrap angle. All of these are considered in the 10model
Appl. Sci. 2020, 10, 1305 of 20
of this paper.

Midpoint

5
2.00x10
5
1.95x10
5
1.90x10
Rope tension(N)

5
1.85x10 Acceleration stage Constant speed stage
5
1.80x10 5 10 15
5
1.75x10 Cage anchor
5
1.70x10
5
1.65x10
Cage anchor of lifting side rope
5
1.60x10 Midpoint of lifting side rope

0 5 10 15 20 25 30
Time(s)

5 10 15

(a)

5 Balance hammer anchor of lowering side rope

2.15x10
Midpoint of lowering side rope
5
2.10x10
Acceleration Constant speed
5 lowering stage lowering stage
2.05x10
Rope tension(N)

5
2.00x10
5
1.95x10
5
1.90x10
5
1.85x10
5
1.80x10
0 5 10 15 20 25 30
Time(s)

(b)

2.15x10
5 Span tension of string rope

5
2.10x10
5 Acceleration stage
2.05x10
Rope tension(N)

5
2.00x10
5
1.95x10
5
1.90x10
5
Constant speed stage
1.85x10
5
1.80x10
0 5 10 15 20 25 30
Time(s)

(c)

Figure 11. Figure

Dynamic 11. Dynamic rope tension at the different positions. (a) Tension at anchor and midpoint of
rope tension at the different positions. (a) Tension at anchor and midpoint of
lifting side rope; (b) Tension at anchor and midpoint of lowering side rope; (c) Tension at midpoint
lifting side of
rope; (b) Tension
the string rope. at anchor and midpoint of lowering side rope; (c) Tension at midpoint of
the string rope.
In the acceleration stage of Figure 11b,c, there is a significant abrupt amplitude that corresponds
to Rope
3.3. Wrapped the "spindle" rope vibration in the Z direction and the amplitude intensification in the Y direction
Dynamics
10
3.3.1. Rope Dynamics in the Wrapping Process
It is necessary to extract some discrete elements of the model that can bypass the pulley to obtain
the wrapping dynamics of the rope. The discrete starting point of the rope model is located at the
anchor of the hammer, with the serial number of the 1st element, and then the number increases until
the anchor of the cage, i.e., the final 1701th element. We extract some rope elements at the whole meter
to facilitate the intuitive understanding of its position. Figure 12 shows the vibrations of the 702th and
369th rope elements with initial positions 300 m and 400 m above the cage, respectively. The main
vibrations in the X direction are still the sudden peaks at individual positions. The distinct demarcation
 3.3. Wrapped Rope Dynamics

3.3.1. Rope Dynamics in the Wrapping Process

It is necessary to extract some discrete elements of the model that can bypass the pulley to
obtain the wrapping dynamics of the rope. The discrete starting point of the rope model is located at
Appl. Sci. 2020, 10,
the 1305
anchor of the hammer, with the serial number of the 1st element, and then the number increases 10 of 17
until the anchor of the cage, i.e., the final 1701th element. We extract some rope elements at the
whole meter to facilitate the intuitive understanding of its position. Figure 12 shows the vibrations of
characteristics thein702th
the Z and
and Y directions
369th rope elementsindicate thatpositions
with initial the rope300 is bypassing
m and 400 mthe friction
above pulley. The rope
the cage,
respectively. The main vibrations in the X direction are still the sudden peaks at individual positions.
vibration in the Z direction near the friction pulley is the most severe. Even unstable “spindle” vibration
The distinct demarcation characteristics in the Z and Y directions indicate that the rope is bypassing
appeared at the 300friction
m above the
pulley. Thecage. The rope
rope vibration at Zboth
in the positions
direction near the has significant
friction pulley is thenonstationary
most severe. vibration
between 5 and Even15unstable
s. However,
"spindle"the rope appeared
vibration of 400 m at is
300close
m aboveenough toThe
the cage. therope
friction
at bothpulley,
positionswhich
has causes the
significant nonstationary vibration between 5 and 15 s. However, the rope of 400 m is close enough
nonstationary vibration to be cross-linked with the amplitude intensification caused by approaching
to the friction pulley, which causes the nonstationary vibration to be cross-linked with the amplitude
the pulley. The phenomenon
intensification caused byreveals thethereason
approaching thatphenomenon
pulley. The vibrationreveals
intensification
the reason thatand abnormal noise
vibration
appear in many frictionand
intensification hoisting
abnormal system containers
noise appear [13,14]hoisting
in many friction at thesystem
end of the lifting
containers [13,14]stage.
at the
end of the lifting stage.

0.4 369_400m
0.2

Vibration acceleration of axis X(m/s )

2 0.0
-0.2
-0.4
-0.6
0.4 702_300m
0.2
0.0
-0.2
-0.4
-0.6
0 5 10 15 20 25 30
Time(s)
Appl. Sci. 2020, 10, 1305 12 of 20
(a)

369_400m 400 369_400m

15 540m/s
2
75 Beat frequency
String rope 300 50
25
0
0
5 200 -25
Vibration acceleration of axis Z(m/s )
Vibration acceleration of axis Y(m/s )

2
2

-15 -50
0 Persistent instability -75
100
-30 15.9 16.2 16.5 16.8
-5 String rope
0
-45
-10 Beat frequency
16.0 16.5 17.0
-100
2 400 702_300m
15 702_300m 48m/s 784m/s
2
40
300 20
0 8 0
200 -20
-15 4
-40
0 100 -60
-30
-4 0
27.25 27.50 27.75 28.00
11
-45 -8
27.0 27.5 28.0 -100
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time(s) Time(s)

(b) (c)

Rope12.vibration
Figure 12. Figure in three
Rope vibration in three directions in process
directions in the the process of wrapping
of wrapping the friction
the friction pulley. (a) pulley.
X-axis—short
(a) X-axis—short side direction
side direction of the
of the cage; (b)
cage; (b) YYaxis—vertical
axis—verticaldirection of the cage;
direction (c) Z-axis—long
of the cage; (c) Z-axis—long
side direction of the cage.
side direction of the cage.
The vibration in the Y direction is similar to that in the Z direction. Macroscopic trapezoidal
acceleration is not obvious, but instead is the reverse peak with increasing amplitude. When the rope
The vibration in the Y direction is similar to that in the Z direction. Macroscopic trapezoidal
runs out of the friction pulley, i.e., the string rope, the Z and Y direction rope vibrations present
acceleration is not "beat-frequencies"
typical obvious, but instead
[4,5]. Thisisisthe
duereverse peakof with
to the motion increasing
the string amplitude.
being stable When the rope
and its tension
runs out of the friction pulley, i.e., the string rope, the Z and Y direction rope vibrations present typical
fluctuating steadily in the constant speed stage (Figure 11). The vibration frequencies of the two
sides are similar, but there are small differences due to the length and the load of the rope. As a
“beat-frequencies” [4,5]. This is due to the motion of the string being stable and its tension fluctuating
result, the string as the transition section of the two forms a mixing of the two approximate
steadily in the constant speed
frequencies, which stage
induces the(Figure
formation11). Thefrequency".
of a "beat vibration frequencies of the two sides are similar,
but there are small differences due to the length and the load of the rope. As a result, the string as the
3.3.2. Local Friction and Contact
transition section of the two forms a mixing of the two approximate frequencies, which induces the
Figure 13 shows the force lines between the rope and the pulleys. Each force line represents the
formation of a “beat frequency”.
interaction force between a rope element and the groove on the pulley. This force can be
decomposed into normal contact and friction.
3.3.2. Local Friction and Contact
Figure 13 shows the force lines between the rope and the pulleys. Each force line represents the
interaction force between a rope element and the groove on the pulley. This force can be decomposed
into normal contact and friction.
Figure 14 shows the process of the force change in the transmission operation. Nine consecutive
calculation points are selected in the constant speed stage. The blue arrow indicates the entire process
of a rope element from the beginning to the wrap angle until it fully contacts the friction pulley.
Numbers a–f indicate an increasing force. For numbers e–f, the force line direction has a significant
downward migration compared with a–c. By number g, the force line shifts upward in the reverse
 acceleration is not obvious, but instead is the reverse peak with increasing amplitude. When the rope
runs out of the friction pulley, i.e., the string rope, the Z and Y direction rope vibrations present
typical "beat-frequencies" [4,5]. This is due to the motion of the string being stable and its tension
fluctuating steadily in the constant speed stage (Figure 11). The vibration frequencies of the two
sides are similar, but there are small differences due to the length and the load of the rope. As a
result, the string as the transition section of the two forms a mixing of the two approximate
Appl. Sci. 2020, 10, 1305
frequencies, which induces the formation of a "beat frequency". 11 of 17

3.3.2. Local Friction and Contact

direction and even crosses
Figure thetheforce
13 shows linebetween
force lines of the the
previous
rope and element. It can
the pulleys. Each beline
force seen from the
represents g, i that as the
rope gradually enters the
interaction forcewrap
betweenangle,
a ropetheelement
force line starts
and the to be
groove onstable and This
the pulley. evenlyforcedistributed.
can be
decomposed into normal contact and friction.

Appl. Sci. 2020, 10, 1305 13 of 20

Figure 14 shows the process of the force change in the transmission operation. Nine consecutive
calculation points are selected in the constant speed stage. The blue arrow indicates the entire
process of a rope element from the beginning to the wrap angle until it fully contacts the friction
pulley. Numbers a–f indicate an increasing force. For numbers e–f, the force line direction has a
significant downward migration compared with a–c. By number g, the force line shifts upward in
the reverse direction and even crosses the force line of the previous element. It can be seen from g, i
that as the rope gradually enters the wrap angle, the force line starts to be stable and evenly
distributed.
Figure 13. Figure 13. Distribution of the contact force line between the rope and pulleys.
Distribution of the contact force line between the rope and pulleys.

12

(a) (b) (c)

(d) (e) (f)

(g) (h) (i)

Figure 14. Dynamic force line on the friction pulley during the transmission process.
Figure 14. Dynamic force line on the friction pulley during the transmission process.
Figure 15 shows the normal contact force between the 702th, 535th and 369th rope elements and
Figure 15 pulleys.
showsThe theloadnormal
appliedcontact force
at the lifting sidebetween
is 0.95×105the 702th,
kg, and 535th
the load on aand
single369th
rope isrope elements and
one sixth
pulleys. The loadof it.applied
The initialatpositions
the lifting side
of each is 0.95
element above the5 cage
× 10 kg, and the350
are 300, load
and on
400 am,single rope The
respectively. is one sixth of
contact angle between the rope and the guide pulley is small, so the rope passes through the guide
it. The initial positions of each element above the cage are 300, 350 and 400 m, respectively. The contact
pulley quickly and the contact force presents a more prominent peak. The contact force fluctuates
angle betweenand thethenroperisesand the guide
gradually, and thepulley is amplitude
fluctuation small, sodecreases
the rope passes through
continuously, the guide
which is caused by pulley
quickly and thethecontact force
rope tension of presents a more
the lifting side. prominent
The variation peak. force
in the contact The iscontact force
significantly fluctuates
different from and then
rises gradually,that
and in [23]. This is due to the existence of the guide pulley, which causes a higher tension level of the
the fluctuation amplitude decreases continuously, which is caused by the rope
separation point (Figure 11).
tension of the lifting side. The variation in the contact force is significantly different from that in [23].
This is due to the existence of the guide pulley, which causes a higher tension level of the separation
point (Figure 11).
Compared with the rope at 300 m and 350 m, the contact force at 400 m shows a long significant
downward trend. The dividing point of the change trend is the one of acceleration to a constant
speed. Therefore, the decreasing trend is due to the lower string rope tension in the acceleration stage
(Figure 11), which makes the tension at the meeting point larger than that at the separation point.
When the rope is about to leave the friction pulley, the contact force rises abruptly and reaches its
maximum value. It can also be determined from Figure 14 that the force line increases significantly
when the rope turns 180 degrees, which is due to the dominant effect of the string rope tension.
13
Appl. Sci. 2020, 10, 1305 12 of 17

Appl. Sci. 2020, 10, 1305 14 of 20

14 16 18 20 22 24 26 28 30
20.0k
(a) 702_300m
17058N
15.0k
16.0k
10.0k
14.0k
5.0k 12.0k
26.4 26.8 27.2
0.0
20.0k
17631N 14522N (b) 535_350m
15.0k

Contact force(N)
Friction pulley 16.0k
10.0k
14.0k

5.0k Guide pulley 12.0k

20.8 21.2 21.6

0.0
20.0k
(c) 369_400m
15.0k 16.0k 16549N
Acceleration
10.0k 14.0k

5.0k 12.0k
15.2 15.6 16.0
0.0

14 16 18 20 22 24 26 28 30
TIme(s)

Figure 15. Contact force produced by the rope wrapping the pulleys. (a) Rope 300 m above cage; (b)
Figure 15. Contact force produced by the rope wrapping the pulleys. (a) Rope 300 m above cage;
rope 350 m above cage; (c) rope 400 m above cage.
(b) rope 350 m above cage; (c) rope 400 m above cage.
Compared with the rope at 300 m and 350 m, the contact force at 400 m shows a long significant
Figure 16downward
shows the trend. The dividing
friction forces point of the change
between trend elements
the rope is the one ofand acceleration to a constant
the pulley’s surface. It can be
speed. Therefore, the decreasing trend is due to the lower string rope tension in the acceleration
found that there are reverse values of the friction force in both the friction
stage (Figure 11), which makes the tension at the meeting point larger than that at the separation
pulley and guide pulley.
The friction force
point. increases
When the rope immediately
is about to leaveafter the rope
the friction is the
pulley, wrapped onto
contact force the
rises friction
abruptly andpulley.
reaches The friction
forces all haveitsreverse
maximumpeaks value. in
It can
thealso be determined
course of rising, from Fig. 14isthat
which the force
similar toline
theincreases
resultssignificantly
in [20]. The reason for
when the rope turns 180 degrees, which is due to the dominant effect of the string rope tension.
this is that the rope tension decreases after entering the wrap angle, which results in rope deformation
Figure 16 shows the friction forces between the rope elements and the pulley’s surface. It can be
at the tangentfound
point.
thatThe
theredeformation
are reverse values direction is the
of the friction same
force in bothasthethe pulley
friction rotation
pulley and
and guide the deformation
pulley.
The friction
speed is not less than the force increases
pulley edgeimmediately after the
linear speed, ropecausing
thus is wrapped onto the friction
a reverse friction pulley.
force.TheThe maximum
friction forces all have reverse peaks in the course of rising, which is similar to the results in [20]. The
friction of thereason
selected rope elements can reach 11,671 N before falling back rapidly
for this is that the rope tension decreases after entering the wrap angle, which results in rope
to a reverse value.
This shows that the rope
deformation is again
at the tangent deformed in the same
point. The deformation direction
direction is the sameas as
thethefriction pulley
pulley rotation andafter the rope
the deformation
enters the second half of the speed is notangle.
wrap less than the pulley edge linear speed, thus causing a reverse friction
Appl.
force.Sci.The
2020,maximum
10, 1305 15 back
friction of the selected rope elements can reach 11,671 N before falling of 20

rapidly to a reverse value. This shows that the rope is again deformed in the same direction as the
14 16 18 20 22 24 26 28
friction pulley after the rope enters the second half of the wrap
(a)
angle.
702_300m 12.0k
11671N
10.0k 8.0k
4.0k
5.0k
0.0
0.0 -4.0k
26.4 26.8 27.2
-5.0k
9679N (b) 535_350m
Friction force(N)

8.0k
10.0k Friction pulley
4.0k
5.0k 0.0 Guide pulley
-4.0k 20.8 21.2 21.6
0.0

-5.0k
12.0k 11497N (c) 369_400m
10.0k 8.0k Reverse
4.0k
5.0k 0.0
-4.0k 15.2 15.6 16.0
0.0

-5.0k
14 16 18 20 22 24 26 28
Time(s) 14
Figure 16. Friction force produced by rope wrapping the pulleys. (a) Rope 300 m above cage; (b)
Figure 16. Friction force produced by rope wrapping the pulleys. (a) Rope 300 m above cage; (b) Rope
Rope 350 m above cage; (c) Rope 400 m above cage.
350 m above cage; (c) Rope 400 m above cage.
4. Discussion
4. Discussion
4.1. Position Difference of Vibration Intensity
4.1. Position Difference ofshows
Figure 17 Vibration Intensity
the rope vibrations above the cage and balance hammer. The law of vibration
is still strongest in the short side direction (Z) and weakest in the long side direction (X), which
Figure 17 shows
indicates the
that therope vibrations
accuracy above
of the model the cage and
is comprehensive balanceThe
and universal. hammer. The law
overall vibration of vibration is
value
still strongestofinthethe
wire rope on
short sidethedirection
lowering side
(Z)(above the hammer)
and weakest inisthe
stronger
long than
sidethat on the lifting
direction (X),side
which indicates
(above the cage). This is due to the short hanging length of the wire rope on the lower side.
that the accuracy of the model is comprehensive and universal. The overall vibration value of the wire
Short-span rope strings have relatively high rigidity and are more likely to produce strong vibration
rope on the lowering
accelerationside (above the hammer) is stronger than that on the lifting side (above the cage).
amplitude.

12 1035_200m 68_20m
24
6 12
ration of axis Z(m/s )
2

0
ation of axis Z(m/s )

0
2

-6 -12
-12 -24
12 1368_100m 34_10m
24
6 12
0 0
 Rope 350 m above cage; (c) Rope 400 m above cage.

4. Discussion

4.1. Position Difference of Vibration Intensity

Figure 17 shows the rope vibrations above the cage and balance hammer. The law of vibration
Appl. Sci. 2020, 10, 1305 13 of 17
is still strongest in the short side direction (Z) and weakest in the long side direction (X), which
indicates that the accuracy of the model is comprehensive and universal. The overall vibration value
of the wire rope on the lowering side (above the hammer) is stronger than that on the lifting side
This is due to(above
the short hanging
the cage). This islength
due to of
thethe wire
short ropelength
hanging on theof lower
the wireside.
rope Short-span
on the lower rope
side. strings have
Short-span
relatively high rigidity rope strings
and arehave
more relatively
likelyhigh rigidity andstrong
to produce are morevibration
likely to produce strong vibration
acceleration amplitude.
acceleration amplitude.

12 1035_200m 68_20m
24
6 12

Vibration acceleration of axis Z(m/s )

2
0

Vibration acceleration of axis Z(m/s )

0

2
-6 -12
-12 -24
12 1368_100m 34_10m
24
6 12
0 0
-6 -12
-12 -24
12 1700_0.5m 2_0.5m
24
6 12
0 0
-6 -12
-12 -24
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Time(s) Time(s)

Appl. Sci. 2020, 10, 1305 (a1) (a2) 16 of 20

2 1035_200m 2 68_20m
Vibration acceleration of axis Y(m/s )

0
2

0
-2
Vibration acceleration of axis Y(m/s )
2

-2 -4
-4 -6
-8 15
2 1368_100m 2 34_10m
0 0
-2
-2 -4
-4 -6
-8
2 1700_0.5m 2 2_0.5m
0 0
-2 -0.2

-2 -4
-0.4
-0.6

-4 -6 -0.8
-1.0
-8 7 8 9 10 11 12
0 5 10 15 20 25 30 0 5 10 15 20 25 30
Tims(s) Tims(s)

(b1) (b2)

0.4 1035_200m 0.6 68_20m

Vibration acceleration of axis X(m/s )

0.2
2

0.3
0.0
Vibration acceleration of axis X(m/s )

0.0
2

-0.2 -0.3
-0.4 -0.6
0.4 1368_100m 0.6 34_10m
0.2 0.3
0.0 0.0
-0.2 -0.3
-0.4 -0.6
0.4 1700_0.5m 0.6 2_0.5m
0.2 0.3
0.0 0.0
-0.2 -0.3
-0.4 -0.6
0 5 10 15 20 25 30 0 5 10 15 20 25 30
TIme(s) TIme(s)

(c1) (c2)

Figure 17. Rope vibration in three directions at different positions above the cage and the hammer.
Figure 17. Rope vibration in three directions at different positions above the cage and the hammer.
(a1) Z-axis—above the cage, (a2) Z-axis—above the hammer; (b1) Y axis—above of the cage, (b2) Y
(a1) Z-axis—above thethecage,
axis—above (a2)(c1)
hammer; Z-axis—above
X-axis—above the the
cage,hammer; (b1) Ytheaxis—above
(c2) X-axis—above hammer. of the cage, (b2) Y
axis—above the hammer; (c1) X-axis—above the cage, (c2) X-axis—above the hammer.
With the increase of the distance from the cage, the vibration in all directions is significantly
strengthened. In particular, the nonstationary vibration in the Z direction increases both in
With theamplitude
increase of the distance from the cage, the vibration in all directions is significantly
and quantity, and the amplitude in Y direction opposite to the acceleration direction
strengthened.increases.
In particular,
Similarly,the
thenonstationary
amplitude of thevibration
X-directioninvibration
the Z direction increases
increases with distance.both
Thisin amplitude
and quantity,phenomenon can be explained
and the amplitude by the fact that
in Y direction the higher
opposite to the
therope is, the higherdirection
acceleration the weight increases.
it bears. Similarly,
Therefore, as shown in Figure 18, the loading state of the rope goes from loosening to tightening,
the amplitude ofis,the
that X-direction
from elasticity to vibration increases
rigidity. Greater stiffnesswith distance.lead
will inevitably This phenomenon
to greater vibration. can
This be explained
by the fact that thecan
theory higher the rope
also explain is, vibration
that the the higher the weight
amplitude in the Yitdirection
bears. increases
Therefore,at theas shown
lifting side in Figure 18,
and decreases
the loading state of theatrope
the lowering
goes fromside. Inloosening
addition, thetononstationary
tightening, ropethat
vibrations with increasing
is, from elasticity to rigidity.
amplitude or quantity as distance increases in Figure 17a1,b2 (purple circles in the figure) also
belong to the "loose–tight" mechanism.

16
Appl. Sci. 2020, 10, 1305 14 of 17

Greater stiffness will inevitably lead to greater vibration. This theory can also explain that the vibration
amplitude in the Y direction increases at the lifting side and decreases at the lowering side. In addition,
the nonstationary rope vibrations with increasing amplitude or quantity as distance increases in
Figure 17(a1,b2) (purple circles in the figure) also belong to the “loose–tight” mechanism.
Appl. Sci. 2020, 10, 1305 17 of 20

Appl. Sci. 2020, 10, 1305 17 of 20

Tight Tight

Bearing
capacity
Loose
increases
gradually ω
Tight Tight

Bearing Loose
capacity
Loose
increases
gradually ω

Figure Figure
18. A18. A sketch of
sketch load variation along rope length.
of Loose
load variation along rope length.
4.2. New Theory of Friction Transmission
4.2. New Theory of Friction Transmission
Figure 19 shows the contact force and friction force between the 369th rope element (the initial
Figure 19 shows
position themcontact
is 400 above the force
Figure
cage) and
18. and
A sketch
the friction forceunder
of load variation
friction pulley between
along rope thelifting
length.
different 369th siderope loads.element
Among (the initial
them, 1.2×105 kg of lifting side load corresponds to heavy lifting, 0.95×105 kg is equal-weight lifting,
position is 4004.2.mNewabove
Theory the Friction
cage) Transmission
and the friction pulley under different lifting side loads. Among them,
and 0.7×10 5 kg ofis light load lifting. It can be found that the initial value of the contact force just
1.2 × 105 kg entering
of lifting the19
Figure
side
pulley
shows
load
depends
corresponds
on the
the contact forceload and
toonheavy
ratio
friction both
force
lifting,
sides. Because
between
0.95 there is
the 369th
10a 5constant
× rope kg is equal-weight
element load (the at the
initial
lifting,
and 0.7 × 105lowering
kg is light
side, load
the lifting.
contact force at It can
different be found
lifting sides that the
changes to initial
the
position is 400 m above the cage) and the friction pulley under different lifting side loads. Among same value
value of
after the contact
bypassing force just
the
them,wrap angle.
1.2×10 5 kgHowever,
of lifting under
side any
load load,
correspondsthe wire
to rope
heavy will produce
lifting,
entering the pulley depends on the load ratio on both sides. Because there is a constant load at the 0.95×10positive
5 kg iseffect friction
equal-weight as soon
lifting,
as
and it enters
0.7×105the kgwrap angle,
is light loadand will provide
lifting. It can bereversefound friction
that thewhen
initialit value
is aboutof to
thebecontactwoundforce out. The
just
lowering side, the contact
greater
force at different lifting sides changes to the same value after bypassing the
enteringthe thelifting
pulleyside load is,on
depends thethesmaller
load ratiothe reverse
on bothfriction.
sides. Because there is a constant load at the
wrap angle. However,
lowering side,under anyforce
the contact load, the wire
at different rope
lifting will
sides produce
changes to thepositive
same value effect friction as soon as it
after bypassing
Load of lifting side(kg) Load of lifting side(kg)
enters the wrapthe wrap 17.5k
angle, and
angle. will provide
However, under 1.2×10
any reverse
load, thefriction
wire ropewhen
12.5k it Positive
will produce
5 is about
positiveto effect be friction
wound out. The greater
as soon 5
1.2×10
5 5
as it enters
is,thethe
wrap angle, and will provide reverse10.0k
friction.friction when it is about to be wound out. The
0.95×10 0.95×10
the lifting side load15.0k smaller the 0.7×10 reverse 5
0.7×10
5
Contact force (N)Contact force (N)

greater 12.5k
the lifting side load is, the smaller the reverse7.5k
friction.
Friction force (N)Friction force (N)

10.0k 5.0k
Load of lifting side(kg) Load of lifting side(kg)
17.5k 12.5k
2.5k
7.5k 1.2×10
5
Positive 1.2×10
5

5 5
15.0k 0.95×10 10.0k
0.0 0.95×10
5.0k 5 5
0.7×10 0.7×10
12.5k 7.5k
-2.5k
2.5k
Reverse
10.0k 5.0k
-5.0k
0.0
7.5k 2.5k
15.0 15.5 16.0 16.5 17.0 17.5 14.8 15.0 15.2 15.4 15.6 15.8 16.0
Time (s) 0.0 Time (s)
5.0k
(a) -2.5k (b)
2.5k
Reverse
-5.0k
0.019. Contact and friction force between the 369th rope element (400 m) and the friction pulley.
Figure
(a) Contact;15.0
(b) friction.
15.5 16.0 16.5 17.0 17.5 14.8 15.0 15.2 15.4 15.6 15.8 16.0
Time (s) Time (s)

Integrating the friction (a) force of the three rope elements in Figure (b) 16 with time, as shown in
Figure 20, the friction impulse of each rope element appears to have a downward inflection point
Figure 19. Contact and friction force between the 369th rope element (400 m) and the friction pulley.
Figure 19. Contact
when andthe friction
frictionforce between thethat
369ththe rope element
drive of (400 m) and therope
friction
has pulley.
(a)wrapping
Contact; (b) friction. pulley. That means friction the pulley to the
(a) Contact; (b) friction.
changed from positive to the reverse. Until this point, friction has been beneficial to friction
transmission;
Integrating after
thethis point,force
friction it hasofadverse
the threeeffects.
rope Combined
elements inwith Figure
Figure 16, the
16 with friction
time, force in
as shown in
the
Integrating wrap
Figure 20,angle
the the can beforce
friction
friction divided
impulse into
ofof the two
each regions
three
rope by the
rope
element judgement
elements
appears of athe
in
to have demarcation
Figure
downward point
16 inflection
with (JDP).
time,
pointas shown in
This
when iswrapping
essentiallythe different
friction from
pulley.theThat
traditional staticthe
means that and dynamic
friction driveangle
of theory—the
the pulley to the static
ropeangle
has point when
Figure 20, thedoes
friction impulse
not provide
of each
friction,toand
rope element appears to have a downward inflection
changed from positive thethereverse.
dynamic anglethis
Until provides
point,afriction
positivehas
friction
beeneffect [19,21,24,25].
beneficial The
to friction
wrapping thetheory
friction
holdspulley.
transmission; that
afterthethis That
point,means
tension does
it hasnot that
change
adverse the friction
when
effects. the rope
Combined drive theof
of with theside
lifting
Figure pulley
16, just to the
the enters
frictiontherope in has changed
wrap
force
from positiveangle
towrap
the the(static angle),
reverse.
angle can be i.e.,
Untilthe this
dividedrope does
twonot
point,
into provide
friction
regions any friction
hasjudgement
by the dueofto
been beneficial thedeformation
to friction
demarcation and slippage.
pointtransmission;
(JDP). after
This is essentially different from the traditional static and dynamic angle theory—the static angle 17 angle can be
this point, it has adverse effects. Combined with Figure 16, the friction force in the wrap
does not provide friction, and the dynamic angle provides a positive friction effect [19,21,24,25]. The
divided into two
theoryregions bythethe
holds that judgement
tension of thewhen
does not change demarcation point
the rope of the (JDP).
lifting This
side just is the
enters essentially
wrap different
from the traditional static
angle (static andi.e.,
angle), dynamic
the rope angle
does nottheory—the static due
provide any friction angle does not provide
to deformation friction, and the
and slippage.
dynamic angle provides a positive friction effect [19,21,24,25]. The theory holds that the 17 tension does

not change when the rope of the lifting side just enters the wrap angle (static angle), i.e., the rope does
not provide any friction due to deformation and slippage. When the rope reaches the dynamic angle,
the friction is caused by the creep between the rope and pulley [26,27].
 Appl. Sci. 2020, 10, 1305 18 of 20

Appl. Sci. 2020, 10, 1305 15 of 17

When the rope reaches the dynamic angle, the friction is caused by the creep between the rope and
pulley [26,27].
Appl. Sci. 2020, 10, 1305 18 of 20
14 16 18 20 22 24 26 28
When the rope reaches the dynamic angle, 810
the friction is caused by the creep between the rope and
702_400m

pulley [26,27]. 540

Judgment of
demarcation point(JDP)
270
14 16 18 20 22 24 26 28
810 0 702_400m

Friction Impulse(N·s)
540600
Judgment of 535_350m
demarcation point(JDP)
270400
JDP
0200

Friction Impulse(N·s)
600 0
535_350m
400
1080 369_300m
JDP
200
720
0 JDP
360

1080 0 369_300m

720 14 16 18 20 22 24 26 28
JDP Time(s)
360
Figure 20. Friction impulse of wire rope.
0 20. Friction impulse of wire rope.
Figure
14 16 18 20 22 24 26 28
Based on the above dynamic behavior, a Time(s)
new transmission theory of “global dynamic wrap
Based on the above
angle” for wire dynamic
rope is proposedbehavior,
(Figurea21).
new transmission
There is no static angle,theory
and theof “global
entire wrap dynamic
angle is wrap angle”
Figure 20. Friction impulse of wire rope.
for wire ropedynamic.
is proposedThe rope (Figure
entering21). the There is noisstatic
wrap angle angle,subjected
immediately and thetoentire wrapfriction
the positive angle is dynamic.
provided by
on the pulley, which is beneficial
behavior, for the transmission. After that, when the rope reaches a
The rope entering Basedthe wrap
the above angle
dynamicis immediately a new subjected
transmission to the
theory positive
of “global friction
dynamic provided
wrap by the
certain
angle” forposition,
wire rope it starts to provide
is proposed reverse
(Figure friction
21). There is nountil it isangle,
static wound andouttheofentire
the wrapwrapangle.
angle The
is
pulley, whichdivision
is beneficial for
andthe transmission. After on that,
the when the ropes
ropeon reaches a certain
When position, it
dynamic. of Thepositive
rope entering reverse
thefriction
wrap area
angledepends
is immediately load of wire
subjected both sides.
to the positive friction
starts to provide
m1<m2,
providedreverse
thethe
by friction
reverse
pulley, effect
whichuntil
area it is wound
isincreases,
beneficial and when
for the out of the
m1>m2,
transmission. wrap
theAfter angle.
positive
that, when The
friction effect
the division
area
rope aof positive and
occupies
reaches
absolute predominance. The traditional
reverse friction
certainarea depends
position, it startson to the
provide ofstatic
loadreverse wire and dynamic
ropes
friction untilon angle
it both
is theories
woundsides.
out ofmaythebewrap
When moreangle.
m1<m2, suitable
the
The for
reverse effect
design of
division calculation
positive andin shallow mine hoists.
reverse friction The newon
area depends transmission
the load of wiretheory of “global
ropes on bothdynamic wrap
sides. When
area increases, and
angle” when
is more m1>m2,
suitable the positive friction effect area occupies absolute predominance.
m1<m2, the reverse effectfor theincreases,
area dynamic analysis
and when ofm1>m2,
deep mine thefriction
positivehoisting
frictionwith
effecta high speed and
area occupies
The traditional
a static
heavy and
load. dynamic angle theories may be more suitable
absolute predominance. The traditional static and dynamic angle theories may be more suitable for for design calculation in shallow
mine hoists.design
Thecalculation
new transmission
in shallow mine theory
hoists. of
The“global dynamic
new transmission wrap
theory angle”
of “global is more
dynamic wrapsuitable for the
angle” is more suitable for the dynamic analysis of deep mine friction hoisting with a high speed and
dynamic analysis of deep mine friction hoisting with a high speed and a heavy load.
a heavy load.

Figure 21. The new friction transmission theory of “global dynamic wrap angle”.

18
Figure 21. The new friction transmission theory of “global dynamic wrap angle”.
Figure 21. The new friction transmission theory of “global dynamic wrap angle”.

5. Conclusions 18

A dynamic model of the hoisting system that unifies the dynamic interaction between the
suspended and wrapped ropes as a whole is established. The suspension dynamics of wire rope
mainly presents nonstationary vibration in the Z direction and tension amplitude that increases with
lifting speed. The wrapping dynamics includes the vibration cross-linking near the friction pulley
and the dynamic change of the contact force line between the rope and the pulley in the wrap angle.
Local dynamic force lines between rope and pulleys show that non-linear positive pressure and friction
force exist at any position in the wrap angle.
A new transmission theory of “global dynamic wrap angle” for a rope friction hoist is proposed,
i.e., the rope produces a positive friction effect by entering the wrap angle, and the friction will change
direction at a certain boundary point until the rope winds out of the wrap angle. The mechanical state
Appl. Sci. 2020, 10, 1305 16 of 17

of the wire rope is dynamic throughout the whole wrap angle, including deformation, contact and
friction. The division of the positive and reverse effect regions depends on lifting and lowering the side
rope end loads. The friction transmission theory proposed in this paper has more accurate dynamic
analysis characteristics for high-speed and heavy-load friction hoisting.

Author Contributions: Conceptualization, D.Z.; Formal analysis, Y.G.; Investigation, Y.G.; Methodology, D.W.;
Validation, S.W.; Writing—original draft, Y.G.; Writing—review & editing, X.Z. All authors have read and agreed
to the published version of the manuscript.
Funding: This project is supported by National Natural Science Foundation of China (Grant No. 51905237,
No. 51875565, No. 51705223) and Natural Science Foundation of Jiangsu Province (Grant No. BK20191000).
Conflicts of Interest: The authors declare no conflict of interest.

References
1. Guo, Y.B.; Zhang, D.K.; Chen, K.; Feng, C.A.; Ge, S.R. Longitudinal dynamic characteristics of steel wire rope
in a friction hoisting system and its coupling effect with friction transmission. Tribol. Int. 2018, 119, 731–743.
[CrossRef]
2. Guo, Y.B.; Zhang, D.K.; Yang, X.H.; Feng, C.A.; Ge, S.R. Experimental research on effect of wire rope
transverse vibration on friction transmission stability in a friction hoisting system. Tribol. Int. 2017, 115,
233–245. [CrossRef]
3. Wang, J.; Pi, Y.J.; Hu, Y.M.; Gong, X.S. Modeling and dynamic behavior analysis of a coupled multi-cable
double drum winding hoister with flexible guides. Mech. Mach. Theory 2017, 108, 191–208. [CrossRef]
4. Yao, J.N.; Xiao, X.M.; Peng, A.H.; Jiang, Y.Q.; Ma, C. Assessment of safety for axial fluctuations of head
sheaves in mine hoist based on coupled dynamic model. Eng. Fail. Anal. 2015, 51, 98–107. [CrossRef]
5. Yao, J.N.; Xiao, X.M. Effect of hoisting load on transverse vibrations of hoisting catenaries in floor type
multirope friction mine hoists. Shock Vib. 2016, 2016, 8598749. [CrossRef]
6. Wolny, S. Braking Distance of Hoist Conveyances Required for Safe Stopping Under the Conditions of
Emergency Braking. Arch. Min. Sci. 2017, 62, 279–288. [CrossRef]
7. Wolny, S. Emergency Braking of a Mine Hoist in the Context of the Braking System Selection. Arch. Min. Sci.
2017, 62, 45–54. [CrossRef]
8. Gaiko, N.V.; Van Horssen, W.T. Resonances and vibrations in an elevator cable system due to boundary sway.
J. Sound Vib. 2018, 424, 272–292. [CrossRef]
9. Wu, J.; Kou, Z.M.; Liang, M.; Wu, G.X. Analysis and experiment of rope transverse vibration for multi-rope
friction hoisting system. J. Huazhong Univ. Sci. Tech. 2015, 12–16. [CrossRef]
10. Bao, J.H.; Zhang, P.; Zhu, C.M.; Zhu, M. Nonlinear Vibration Analysis of Flexible Hoisting Rope with
Time-Varying Length. Int. J. Acoust. Vib. 2015, 20, 160–170. [CrossRef]
11. Kaczmarczyk, S.; Ostachowicz, W. Transient vibration phenomena in deep mine hoisting cables. Part 1:
Mathematical model. J. Sound Vib. 2003, 262, 219–244. [CrossRef]
12. Kaczmarczyk, S.; Ostachowicz, W. Transient vibration phenomena in deep mine hoisting cables. Part 2:
Numerical simulation of the dynamic response. J. Sound Vib. 2003, 262, 245–289. [CrossRef]
13. Zhu, W.D.; Ren, H. An accurate spatial discretization and substructure method with application to moving
elevator cable-car systems-Part I: Methodology. J. Vib. Acoust. 2013, 135, 4024557. [CrossRef]
14. Ren, H.; Zhu, W.D. An accurate spatial discretization and substructure method with application to moving
elevator cable-car systems-Part II: Application. J. Vib. Acoust. 2013, 135, 1127–1139. [CrossRef]
15. Bao, J.H.; Zhang, P.; Zhu, C.M. Longitudinal vibration of rope hoisting systems with time-varying length.
J. Vib. Shock. 2013, 32, 173–177.
16. Bao, J.H.; Zhang, P.; Zhu, C.M. Modeling and control of longitudinal vibration on flexible hoisting systems
with time-varying length. Procedia Eng. 2011, 15, 4521–4526. [CrossRef]
17. Yang, D.H.; Kim, K.Y.; Kwak, M.K.; Lee, S.J. Dynamic modeling and experiments on the coupled vibrations
of building and elevator ropes. J. Sound Vib. 2017, 390, 164–191. [CrossRef]
18. Wu, J.; Kou, Z.M.; Liang, M.; Wu, G.X. Analysis of longitudinal and transverse coupling vibration of steel
wire rope in friction hoisting system. J. China Univ. Min. Tech. 2015, 44, 885–892. [CrossRef]
Appl. Sci. 2020, 10, 1305 17 of 17

19. Lubarda, V.A. Determination of the belt force before the gross slip. Mech. Mach. Theory. 2015, 83, 31–37.
[CrossRef]
20. Guo, Y.B.; Zhang, D.K.; Feng, C.A.; Liu, Y. Dynamic creeping behaviors between hoisting rope and friction
lining in friction transmission. J. Vibroeng. 2016, 18, 5010–5028. [CrossRef]
21. Wang, D.G.; Zhang, D.K.; Mao, X.B.; Peng, Y.X.; Ge, S.R. Dynamic friction transmission and creep
characteristics between hoisting rope and friction lining. Eng. Fail. Anal. 2015, 57, 499–510. [CrossRef]
22. Przemieniecki, J.S. Theory of Matrix Structural Analysis; McGraw-Hill Book Company: New York, NY,
USA, 1968.
23. Guo, Y.B.; Zhang, D.K.; Wang, D.G.; Liu, Y.; Feng, C.A. Dynamic distribution of contact stress of friction
lining in the process of friction transmission. J. Vibroeng. 2016, 18, 4207–4221. [CrossRef]
24. Wang, D.G.; Wang, D.A. Dynamic contact characteristics between hoisting rope and friction lining in the
deep coal mine. Eng. Fail. Anal. 2016, 64, 44–57. [CrossRef]
25. Pietra, L.D.; Timpone, F. Tension in a flat belt transmission: Experimental investigation. Mech. Mach. Theory
2013, 70, 129–156. [CrossRef]
26. Ma, W.; Lubrecht, A.A. Detailed contact pressure between wire rope and friction lining. Tribol. Int. 2017, 109,
238–245. [CrossRef]
27. Ma, W.; Zhu, Z.C.; Xu, L.; Chen, G.A. Sliding friction and wear properties of friction linings with
friction-promoting grease applied. Proc. Inst. Mech. Eng. Part J J. Eng. Tribol. 2014, 228, 595–607.
[CrossRef]

© 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access
article distributed under the terms and conditions of the Creative Commons Attribution
(CC BY) license (http://creativecommons.org/licenses/by/4.0/).