Original scientific paper The paper presents the issues with the dynamic analysis of mine elevators used with underground exploitation of raw materials. Dynamic occurrences are particularly emphasized with those elevators due to the fact that they are facilities with extreme heights (up to 2000 m) and lifting speeds (up to 20 m/s) using the steel ropes. It shows the forming path of a competent dynamic model for the analysis of such elevators. Basic parameters (stiffness and damping) are of variable magnitude during the lifting, so their values are defined through a combination of theoretical analysis and performed experiments at RTB mine elevators at the town of Bor (Serbia). Keywords: damping; dynamic model; experimental analysis; mine elevators; stiffness Teorijsko-eksperimentalna analiza dinamičkih karakteristika rudničkih liftovaIzvorni znanstveni članak U radu je prezentirana problematika dinamičke analize rudničkih liftova koji se koriste pri podzemnoj eksploataciji sirovina. Kod ovih postrojenja posebno su izražene dinamičke pojave, jer se radi o postrojenjima s ekstremnim visinama (do 2000 m) i brzinama dizanja (do 20 m/s) pomoću čeličnih užadi. Prikazan je postupak formiranja mjerodavnog dinamičkog modela za analizu ovakvih postrojenja. Osnovni parametri (krutost i prigušenje) su, u toku dizanja, promjenjive veličine i njihove vrijednosti su određene kombiniranjem teorijske analize i realiziranih eksperimenata na rudničkom liftu u RTB u Boru (Srbija).
Modelling the dynamic behaviour of elevators with high lifting velocities (contemporary elevators in building construction and mine elevators) is a complex task and an important step in the design process and creating conditions for safe and reliable exploitation of these machines. Due to high heights and lifting velocities, the standard procedures for dynamic exploitation are not adequate. The study presents the method of forming a dynamic model to analyse nonstationary vibrations of a rope with time-varying length with nonholonomic boundary conditions in the position where the rope is connected with the cabin (cage) and in the upcoming point of its winding onto the pulley (drum). A unique method was applied to identify the basic parameters of the dynamic model (stiffness and damping) based on experimental measures for a concrete elevator. Due to the verification of this procedure, the experiment was conducted on a mine elevator in RTB Bor, Serbia. Using the obtained computer-experimental results, the simulations of the dynamic behaviour of an empty and loaded cage were shown. In addition, the study shows the specific method as the basis for forming a control program that would enable the decrease in vertical vibrations during an elevator starting and braking mode.
U radu je prikazana problematika defnisanja dinamičkih modela liftova i izvoznih postrojenja u rudnicima i metode za rešavanja formiranih matematičkih modela u zavisnosti od osnovnih parametara postrojenja. U eksploataciji se sreću različiti tipovi ovih uređaja od rudničkih i svremenih putničkih liftova sa ekstremnim visinama i brzinama dizanja do klasičnih liftova sa relativno malim vrednostima ovih parametara što uslovljava korišćenje različitih dinamičkih modela i matematičkih metoda za njihovo rešavanje. Pored analize karakteristika i pogodnosti primene pojedinih matematičkih metoda u radu je dat prikaz korišćenja specijalizovanih softvera za dinamičku analizu liftova i izvoznih postrojenja.Ključne reči: Mašine vertikalnog transporta, Mehanički modeli, Analitičke i numeričke metode 0. UVOD IMK-14 -Istraživanje i razvoj u teškoj mašinogradnji
U ovom radu je prikazana analiza uticajnih veličina, postupak modeliranja sistema zipline-a, kao i postupak određivanja parametara kretanja. Sam proračun bazira na teoriji lančanice, sa specifičnostima razvijenim za proračune žičara i kabel-kranova, odnosno transportnih sistema sa tzv. "horizontalnim užetom". Kao ilustracija sprovedene analize prikazani su rezultati dobijeni na osnovu teorijske postavke merodavnog modela uz primenu računarskih simulacija za konkretne uslove zipline-a, čija je izgradnja bila predviđena na Fruškoj Gori. U simulacijama je vršeno variranje vrednosti značajnih veličina (težina, otpor točkova, otpor vazduha, vetar, zatezanje užeta, položaj tela osobe, ...) za različite slučajeve korišćenja zipline-a. Rezultati i izvedeni zaključci mogu poslužiti kao polazna osnova za projektovanje ovakvih sistema.
U radu je prikazana problematika formiranja dinamičkih modela liftova i izvoznih postrojenja u rudnicima. Kod ovih mašina, posebno rudničkih liftova izražene su dinamičke pojave, jer se radi o postrojenjima sa ekstremnim visinama (do 2000 m) i brzinama dizanja (do 20 m/s) pomoću čeličnih užadi. Prikazan je postupak formiranja merodavnog dinamičkog modela za analizu ovakvih postrojenja. Osnovni parametri, kao što su krutost i prigušenje, u toku dizanja su promenljive veličine i njihove vrednosti se određuju kombinovanjem teorijske analize i realizovanih eksperimentalnih rezultata na ekspres liftovima i rudničkim liftovima u realnim uslovima.
This paper defines the basis for zipline arresting devices. Considering that there is currently no legal regulation in Serbia that defines devices for zipline braking and arresting, an excerpt from foreign standards are given in the first part of the paper. This is followed by an overview of existing solutions of arresting systems, as well as examples of patented solutions. As it is necessary to know the velocity of the passenger at the beginning of braking, the paper gives a basis for determining the kinematic parameters of the passenger. The analysis of kinematic parameters consists of two parts - the first one, which includes static analysis based on catenary theory, and the second, which takes into account inertial forces, movement resistance, air resistance, the position of a passenger during lowering, tightening force, etc. Finally, recommendations for the selection of zipline arresting system are given, as well as an example of concrete zipline which was built on Fruška Gora.
Modelling of the dynamic behaviour of elevators with high lifting velocities (contemporary elevators in building construction and mine elevators) is a complex task and an important step in the design process and creating conditions for safe and reliable exploitation of these machines. Due to high heights and lifting velocities, the standard procedures for dynamic exploitation are not adequate. With the purpose of identifying the basic parameters of the dynamic model (stiffness and damping), a unique method was applied, based on experimental measures for a concrete elevator. Due to the verification of this procedure, the experiment was conducted on a mine elevator in RTB Bor, Serbia. Simulations of the dynamic behaviour of an empty and loaded cage are presented using the obtained computational-experimental results
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