针对柔性罐道工况下双绳缠绕式煤矿深井提升系统运行过程中容器倾斜问题，提出了容器位姿调平控制方法。首先，分析了双绳缠绕式深井提升系统的组成及各组成部分的几何关系，考虑提升系统和浮动天轮液压系统非线性问题，建立双绳缠绕式深井提升系统容器位姿调平非线性控制模型;其次，由于煤矿深井提升环境恶劣，因此提升系统容器位姿反馈信号通过无线装置进行采集，考虑提升系统运行过程中控制量在钢丝绳中传递存在的不确定延时问题，构建了容器位姿调平主动控制矩阵模型，设计了控制信号传输延时补偿观测器，证明了包含延时补偿观测器的容器位姿调平主动控制模型的稳定性;然后，设计滑模控制器实现提升系统容器位姿调平控制，考虑到控制器设计过程中需要容器角度的微分信号，利用高增益观测器为滑模控制器提供光滑的角度微分信号，进而提高控制性能;最后，利用双绳缠绕式煤矿深井提升试验台对提出控制信号延时补偿观测器及容器位姿调平控制方法开展了实验验证，实验结果表明，反步和本文提出的控制器相对于PI控制器具有更优越的响应速度，而提出的控制算法由于添加了延时补偿观测器和高增益观测器，具有更好的控制效果，可以减小容器倾角的峰值与均值，保证双绳缠绕式煤矿深井提升系统的安全运行。

In order to solve the tilt problem of conveyance during the operation of double rope winding deep mine hoisting system with flexible cage guide,a conveyance leveling control strategy is proposed.Firstly,the components and their geometrical relationship are analyzed.Considering the nonlinear problem of hoisting system and floating head sheave hydraulic system,the control model of conveyance leveling of a double-rope winding deep mine hoisting system is established.Secondly,due to the harsh environment of coal mine deep shaft hoisting,the wire rope tension feedback signal is collected by wireless device.Considering the uncertain time delay while the control signal transmitting in the wire rope,the time delay matrix models of conveyance levelling control is established and control signal time delay observer is designed.The stability of double-rope winding deep mine hoisting system with time delay observer is proved.Then,a sliding mode controller is designed to realize the conveyance leveling control.Considering that the differential signal of conveyance tilt angle is needed in the controller design process,a high gain observer is employed to provide a smooth differential signal of angle for the sliding mode controller,then the control performance is improved.Finally,the proposed control method is verified by using an experimental system of double-rope winding deep mine hoisting.The experimental results show that compared with the PI controller,the back-stepping controller and proposed controller have a higher response speed.Due to the added time delay compensation observer and high-gain observer,the proposed controller can reduce the peak and average conveyance leveling,which can ensure the safe operation of double-rope winding deep mine hoisting systems.