Vol.1, No 7, 2000 pp. 879 - 886
UDC 621.87
LINEARIZATION AND SOLVING OF
DIFFERENTIAL MOTION EQUATIONS OF CRANE DRIVING MECHANISMS
Zoran Marinković, Saša Marković, Dragan Marinković
Mechanical Engineering Faculty University of Niš
Str. Beogradska 14, 18000 Niš, Yugoslavia
Abstract. The work deals with discrete elasto-kinetic model of finite
mass number and its system of non-homogenous differential second order
equations modelling successfuly crane driving mechanisms. Generally speaking
the model parametres, i.e. inertia characteristics, elastic bonds (damping,
rigidity and gap) and external impulses (electromotor, brakes, movement
resistance etc.) are non-linear. It was proved that these characteristics
in practical estimations are being linearized, i.e. changed with constant
values or piecewise linear characteristics. By this for practical analysis
and estimation cases there is no significant influence on results accuracy,
which was confirmed by comparive certain simulations with experimental
recording.
LINEARIZACIJA I REŠAVANJE DIFERENCIJALNIH
JEDNAČINA KRETANJA
POGONSKIH MEHANIZAMA KRANOVA
Rad se bavi diskretnim elasto-kinetičkim modelom sa konačnim brojem masa
i sistemom nehomogenih diferencijalnih jednačina koje uspešno modelišu
pogonske mehanizme kranova. Uopšteno govoreći parametri modela, tj. inercione
karakteristike, elastične veze (prigušenja, krutosti i zazori) i spoljašni
poremećaji (elektromotor, kočnice, otpora kretanju) su nelinearni. Iz tog
razloga ove karakteristike treba da budu linearizovane ili zamenjene konstantnim
vrednostima po intervalima (tzv. stepenasti ili "stepwise" profil). Time
se omogućava rešavanje jednačina kao i analiza praktičnih situacija bez
značajnije greške što je za neke slučajeve potvrđeno upoređenjem sa eksperimentom.
