DYNAMIC LOADS IN KINEMATIC TRANSMISSIONS WITH LIUFT AT THE OPTIMUM CONTROL OF THE MECHANISM OF TURNING

Abstract

With the purpose of increasing the productivity of many technological processes, optimal control of an asynchronous electric drive of turning mechanisms by the criterion of speed and simultaneous
damping of cargo fluctuations is considered. The law of change of the dynamic moment of the electric drive
obtained with the use of Pontryagin's maximum principle ensures the damping of the load oscillations by the
end of the transient process of the rotation mechanism and the minimum duration of these processes. How-
ever, this requires not smooth, but instantaneous applications of maximum torque, which leads to the greatest dynamic loads in the transmission links. Dynamic loads in kinematic gears with a clearance under the
optimal control of the rotation mechanism are investigated. It is shown that when the engine is reversed,
even without taking into account the play in gears, the dynamism coefficient essentially depends on the initial
conditions. Processes are aggravated by the presence of gaps in the kinematic transmissions of the mechanical part of the electromechanical system. It is shown that by changing the motor torque according to an exponential law, it is possible to achieve a significant reduction in loads in kinematic gears. However, with
large gaps, even under these conditions, the loads in the gears can be unacceptable. Therefore, it is desirable so to contain the mechanical part of the rotation mechanism, so that the total value of the gap in the
transmissions does not exceed 1 to 1.5 rad. It is shown that taking into account viscous friction gives an additional reduction in loads, and deviation of the control method from the ideal has an insignificant effect on
the quality indices of the optimal transient processes of the electromechanical system.