Kinematic calculation of fixed-capacity belt conveyors for vertical shaft skip loading

MENG Ying; LI Nan; CHEN Huaying

doi:10.11799/ce202512003

Abstract：In response to the engineering requirement for frequent speed switching of fixed-capacity belt conveyors in the vertical shaft skip loading,we proposed a kinematic analysis and control method based on a trapezoidal acceleration curve.The core objective of this method is to achieve smooth and precise control during the starting,stopping,and speed-changing processes of the fixed-capacity conveyor.By constraining the change rate of acceleration during both acceleration and deceleration phases,it theoretically avoids the mechanical impact and elastic vibration problems caused by abrupt acceleration and deceleration in traditional control strategies.A kinematic model covering all operational conditions,including constant speed,acceleration,and deceleration,was established.Analytical expressions for time,travel distance,velocity,and acceleration in each operational phase were systematically derived,providing a theoretical basis for accurately determining key motion parameters.To further validate the feasibility and superiority of the theoretical model,the actual design parameters and operating conditions of the main shaft hoisting system in the Maojiachuan Mine were combined.Detailed temporal sequence matching and simulation calculations were conducted for multiple feeding points at different distances,and differentiated control strategies were proposed for actual operating conditions at various stages.Application results demonstrate that the proposed trapezoidal acceleration control strategy not only significantly suppresses dynamic tension impact and vibration during speed transitions but also reduces the system's rest time from 25 seconds to 20 seconds,increasing overall operational efficiency by 4.6％.The findings provide theoretical foundation and practical guidance for achieving efficient,reliable,and safe automated collaborative operation between fixed-capacity belt conveyors and skip hoisting systems.