The crushing equipment is characterized by a significant energy-consuming system during the crushing workflow. The current trend in the development of such processes puts forward requirements for the development of new or improvement of existing energy-saving equipment. The essence of the solution to the problem in this work is determined by using resonant modes, which are inherently the most effective. The practical implementation of the resonance mode has been achieved taking into account the conditions for the interaction of the resonant vibration crusher with the material at the stages of its destruction. The degree of the stress-strain state of the material is taken into account, which was a prerequisite for identifying the potential for the development of a vibration load. Composed equations of motion based on a substantiated discrete-continuous model of a vibration crusher and processing material. An approach is applied to determine the stepwise destruction of the material with the determination of the required degree of energy. This methodological approach made it possible to reveal the nature of the process of material destruction, where energy costs at the stages of crack formation, their development and final destruction are taken into account. It was revealed that the greatest energy consumption during the operation of crushers goes into the kinetic energy of the crushing plates and the potential energy of deformation of the springs. The proposed model is common for any design of a vibration machine and its operating modes. The stable resonance mode has made it possible to significantly reduce the energy consumption for the course of the technological process of material grinding. The results obtained are used to improve the calculation methods for vibratory jaw and cone crushers that implement the corresponding energy-saving stable zones of the working process.
The results of studies of optimizing the mode of movement of the manipulator boom, mounted on an elastic base with a known stiffness the paper presents. The purpose of this scientific research is to reduce the oscillations of the manipulator turnout system, which will increase the overall efficiency of the manipulator, durability and reliability of the metal structure elements. The implementation of this goal have achieved by applying a controlled mode of operation of the drive with dynamic balancing of the drive mechanism. Using the Lagrange equation of the second kind, the equation of motion of the manipulator boom was compile and the expression for the generalized driving moment of the drive mechanism of the manipulator boom system was determined. This study considers only the angular displacement of the manipulator boom. The unbalanced drive driving moment of the manipulator boom had estimated by the component of the total inertial moment of the moving mass of the boom and load and the static load from the mass of the boom and load on the drive mechanism. The elastic base of the manipulator was present in the form of a linear spring with a given coefficient of elasticity. Since the main external factor of oscillation, perturbation in the metal structure of the manipulator is the driving moment of the drive, so we used the target optimization function, which estimates the root mean square value of the driving moment of the drive mechanism. The main criterion for optimizing the mode of motion was present in the form of an integral functional, and the search for its minimum value is carried out using the methods of calculus of variations. The results of this work can used by the drive control system at the design stage of the manipulator and during its operation. The dynamics of oscillations of such structural elements of boom systems of cranes is also estimated. The implementation of the obtained optimal modes of movement can be carried out using a hydraulic drive.
The intensive spread of automated and robotic systems in the construction industry poses a number of problematic and unsolved problems related to the efficiency and reliability of their use, namely: reducing dynamic loads in the structural elements of robots and manipulators, reducing energy costs to perform a given process by a robotic system. Particular attention is paid to the quality of control, in particular, in a limited working space when moving working bodies with hydraulically actuated manipulators, which are dominant in construction. Problems: For welding of metal structures or when laying building elements using handling systems, the technology for performing such work involves the use of the tasks of moving special working bodies along parabolic trajectories. To implement the tasks set by manipulators, it is necessary to determine the control laws for the drive system. One of the ways to find the necessary functions for the control system is the use of optimization problems according to energy criteria and imposed geometric restrictions. Purpose: to develop and investigate the modes of movement of the drive mechanism of a hydraulic manipulator with the implementation of an energy-intensive mode of operation of a mechanical system in a given space of movement of the working body along a hyperbolic trajectory. Methodology: To achieve the goals of the study, it is proposed to use the optimization problem of minimizing energy consumption in the boom system of a two-link manipulator on a given parabolic trajectory of movement of its working body in a limited working space. In this paper, we consider the problem of conditional optimization, where the restrictions of the working space are imposed by the conditions of movement of the working body and the limiting restrictions on the movement of actuators. The objective optimization function is formed in the form of Lagrange equations from the components of energy consumption and the equation of a parabola that specifies the movement of the manipulator grip. Results: To implement the optimal control of a two-link manipulator on a given parabolic trajectory, it is necessary to determine the extremals of the objective function functional in the form of the Lagrange equation for the components, which in this study were convolutions from the dependencies of energy consumption and the given equation for the trajectory of movement of the working body. The search for the minimum of the objective function is obtained in numerical form, based on which the form of the polynomial of the analytical dependence of the generalized coordinates on time is determined. Conclusions: In further research, it is desirable to consider criteria that take into account various force loads, in particular, the root-mean-square value of the drive force and the intensity of its change over time, and it is also necessary to develop polynomial functions that can be used to express numerical solutions to optimization problems.
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