Introduction. The tasks were considered, which are related to the working bodies for the artificial food products movement according to the specified movement law and their positioning in the intermediate positions of the kinematic cycle. Materials and methods. The actuators dynamics characteristics and control system of power part of positional electro-pneumatic actuators were researched. The methods of mathematical and computer modeling, and methods of solving ordinary differential equations and partial differential equations and method of correlation analysis were used. Results and discussion. The analytical dependences for determining the kinematic parameters of the artificial product movement with the mechanism of collision, which is based on the pneumatic actuator, are obtained. The dynamical model of the actuator is mathematically tested and the movement law of the collision mechanism, which is approximated to the optimal speed, is obtained. To analyze the loading process of the working link of the positional actuator, the model of a generalized control system is used, which is limited by the one full cycle of operation of the functional mechatronic module of the packing machine. Such a model allows to describe the overload process, both in the case of full and partial filling of the working cycle. This is important when packing products in different geometric shapes of consumer packaging, which is typical of modern packaging machines. The simulation model of the actuator is theoretically substantiated and confirmed, which has a number of advantages, unlike the existing structures of positional drives in packaging machines. Сalculated difference, during mathematical modeling, of the value of the working time of the output stage of the functional mechatronic module for the processing of the kinematic cycle of the operation of the packaging machine was for the various input parameters of the limit to 7%. The results of the mathematical modeling of dynamics for a positional pneumatic actuator, with the condition of changing the cross section of the exhaust hole, gave the opportunity to obtain the kinematic characteristics of the drive. Conclusions. The results of mathematical modeling for positional pneumatic actuators with the condition of changing the section of the exhaust hole allowed to track all the kinematic characteristics of the actuator.
ical models of pneumatic conveying of food products are formed on the basis of incremental material parameters of a pneumatic pipeline [1-3]. Additional technical challenges arise when calculating a modern pneumatic conveying pipeline for small-piece food products. It is necessary to introduce elements of monitoring drives, as well as the theory of their calculation to the generalized mathematical model of a pneumatic pipeline [2-5].
This paper reports the new design of an experimental bench to study the effectiveness of the positional drive control system of shut-off fittings. For research, the operating modes of the disk flap and ball valve, based on proportional elements with feedback (4–20 mA), were programmatically formed and described. The mathematical model of control over shut-off devices has been analytically described on the example of a disk rotary valve with the possibility of further analysis of individual stages in accordance with the accepted assumptions. The operating control signal is justified with a serial asynchronous interface with an offset operating range of permissible values of –16.0 mA. Separate stages in the operation of the synthesized shut-off fittings based on accepted assumptions have been described. Measurements were performed for disc damper angles of 30°, 60°, 90° by variable value of the pressure control signal (1...4 bar) with sampling of measuring indicators for the control system in real time. The results obtained experimentally confirmed the adequacy of numerical modeling regarding the study of the disk rotary inter-flange valve, as well as preliminary assumptions in the mathematical model. Data were obtained to test the efficiency of controlled shut-off fittings (V-shaped ball valve, disc rotary inter-flange valve) at a sugar factory. The average angle of rotation for a ball is 17.61 degrees; the average value of the vapor temperature after cooling is 130.91 °C (subject to a given value of 130.0 °C). The deviation of the set value is 0.7 %. The average value for the angle of rotation of the disc damper at 43.0 degrees showed the largest deviation of technological parameters of 1.45 %.
This paper reports the construction of a mathematical model for the process of dosing liquid foods (non-carbonated drinking water). The model takes into consideration the differential equations of changes in the kinematic parameters of the liquid in a dosing device's channels and the corresponding accepted initial and boundary conditions of the process. The boundary conditions account for the influence of software-defined airlift dosing modes using the driver and the geometry of the product pipeline. The current's value measured in mA (with an accuracy of 0.001 mA) relative to the standard scale Imin is Imax=4...20 mA. Individual stages of the dosing process were analytically described, followed by the analysis of separate stages and accepted assumptions. The accuracy achieved when testing the experimental sample of the dispenser, with the repetition of the dose displacement process, ranged between 0.35 % and 0.8 %. The reported results are related to the established dosage weight of 50 ml when changing the initial level of liquid in the tank of the dosing feeder by 10 mm. An experimental bench has been proposed for investigating the functional mechatronic dosing module under the software-defined modes to form and discharge a dose of the product. The bench operates based on proportional feedback elements (4–20 mA) for step and sinusoidal pressure control laws in the dosing device. The control model with working dosing modes has been substantiated. The control models built are based on proportional elements and feedback. During the physical and mathematical modeling, the influence of individual parameters on the accuracy of the product dose formation was determined; ways to ensure the necessary distribution of compressed air pressure, subject to the specified productivity of the dosing feeder, were defined. The study results make it possible to improve the operation of precision dosing systems for liquid products based on electro-pneumatic complexes
Key words:ABSTRACT Palletizer Mechatronic module Accumulator Recuperation Energy Pneumatic drive unit Load Modern models of palletizer are made on the basis of functional mechatronic modules. The largest energy consumption in the modules for the accumulation of cargo layers is observed on a mobile platform. As drive units of such platforms electric motors, hydropneumatic cylinders can be used. The methods of energy recovery in electric and hydraulic drive units are known. But there is no information about the use of pneumatic accumulators for energy recovery in pneumatic drive units of mechatronic modules of step-by-step accumulation of cargo layers.The purpose of the work is to develop a scheme and methods for calculation of pneumatic accumulators for energy recovery in pneumatic drive units of mechatronic modules of step-by-step accumulation of cargo layers on palletizer's moving platform.The concept of the use of pneumatic accumulators for energy recovery in pneumatic drive units of functional mechatronic modules of step-by-step accumulation of layers of cargo of palletizers is substantiated.The method for design of pneumatic accumulators for energy recovery in pneumatic drive units of functional mechatronic modules of step-by-step accumulation of cargo layers has been proposed based on the developed mathematical models. Various new schemes for load platforms of the module with energy recuperators on the basis of pneumatic accumulators have been proposed. The results of the research are recommended for development of new effective palletizer's types.
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