Arc furnaces, due to their high unit power and load nature, belong to the receivers affecting the power quality. A dynamically changing electric arc is the main source of disturbances generated by arc devices. This current article presents the results of model tests of disturbances caused by arc furnaces. It also presents the attempts to estimate the power supply conditions for arc furnaces, so that they do not generate unacceptable disturbances to the power system. Various models of the electric arc are proposed. The values of the elements making up the furnace supply system were based on actual parameters. In these networks, measurements of electricity quality indicators were carried out, which allowed us to refer to the obtained results of model tests with the real values. Accordingly, to the real conditions, the values of the short-circuit power of the network and the power of furnace transformers were also adopted in the tests.
The mathematical model of electric drive, which consists of deep groove asynchronous motor that rotates the axial pump, is substantiated, using the interdisciplinary modeling method, based on the modified Hamilton-Ostrogradsky's principle by expanding the known Lagrange function. Resulting differential equations are represented in normal Cauchy form and are integrated numerically. Streszczenie. W pracy na podstawie interdyscyplinarnej metody modelowania, która opiera się na zmodyfikowanej zasadzie Hamiltona-Ostrogradskiego z uwzględnieniem rozszerzenia funkcji Lagrange'a opracowano model matematyczny układu napędowego, który składa się z głębokożłobkowego silnika asynchronicznego sprzęgniętego z pompą pionową. Równania różniczkowe stanu elektromechanicznego przedstawione są w postaci normalnej Cauchy'ego, które całkowane są za pomocą metod numerycznych. (Model matematyczny układu napędowego z silnikiem asynchronicznym i pompą pionową).
The review discusses the possibilities of different driving mechanisms and sensors of spherical robots, and a special kind of mobile robots is introduced and discussed. The sensors discussed can expand robots’ sensing capabilities which are typically very limited. Most spherical robots have holonomic characteristics and protect the inner environment using a shell. Today, there are a diversity of driving mechanisms. Therefore, this article provides a review of all of them and identifies their basic properties. Accordingly, many spherical robots have only inner sensors for moving, balancing, driving, etc. However, a few of them are also equipped with sensors that can measure environmental properties. Therefore, in this paper, we propose the possibility of using such sensors as cameras, LiDARs, thermocouples, and gas sensors, which can be used for special purposes underground, for example, in mines, underground tunnels, or road tunnels. After combining all components are combined, it is possible to design a special type of spherical robot designed for underground exploration, such as accidents in mines or road tunnels.
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