Abstract: A mine hoist system dynamic model was firstly analyzed. According to the characteristics of time-variation, nonlinearity, strong coupling, great inertia, unknown load within the system dynamics, a new L1 adaptive controller was adopted to  online learn the operating conditions,to adjust the controller parameters in real time, and well control effectiveness in the global environment was obtained.L1 controller was proved to  have arbitrary steady states and transient tracking precision when the adaptive gain was chosen large enough through strict mathematical verification. Then the feasibility of L1 controller was validated in MATLAB simulation environment and a test was conducted in real mechanical platform. The results show that the mine hoist control system may still track the given speed curve along with satisfactory tracking accuracy and robustness when the load is unknown.

Key words: mine hoist, unknown time-varying dynamic system, speed control;L1 adaptive control theory

摘要： 分析建立了整个提升机系统的动力学模型，并针对系统动态中的时变非线性、强耦合、大惯性和负荷未知等特点，设计了新的L1自适应控制器，在线学习提升机运行特性和状态，实现控制参数实时调整，获得良好的全局控制效果。数学证明表明，在自适应率足够大的情况下，L1控制器可以获得任意的稳态和瞬态跟踪精度。进而在MATLAB环境下对L1控制器进行仿真验证，并在实际的提升机物理平台上进行实验。结果表明，在载荷未知的条件下，提升机控制系统能够很好地跟踪给定的速度曲线，具有较高的控制精度和鲁棒性。

关键词: 矿井提升机, 未知时变动态系统, 调速控制, L1自适应控制理论