Conditions of Optimization and Efficiency of Damping of Oscillations of Elastic Mechanisms by an Electric Drive

摘要

Oscillations occurring in elastic structures and long mechanical transmissions of operating machines lead to an increase in regulation errors of the controlled coordinates and increase in the dynamic loads in electromechanical systems with elastic connections (EMSs with ECs), which decreases the quality of the manufactured products and reliability and long-term operation of the mechanisms and leads to significant economic damage. Determination of the limit capabilities of the electric drive (ED) while damping the oscillations of elastic mechanisms is of practical interest. A mathematical model of the electromechanical systems with elastic connections in the form of a Mason directed graph is considered. The main factors influencing the efficiency of damping of the electric oscillations of operating machines' mechanical transmission by the ED are defined. The conditions of optimization and reasonable parameters of regulators of the slave regulation system (SRS) providing the smallest amplitude of the oscillations of the elastic mechanisms by the electric drive are found. The efficiency of the suggested recommendations on implementation of regulators of electromechanical systems with elastic connections has been confirmed in practice during modernization of an AT-500-230-1 roller electric drive processing plastic materials and balanced manipulators of MP-100 type. It is shown that the efficiency of damping the oscillations on the elastic mechanical transmissions of operating machines by the electric drove depends on the structure and parameters of the regulators of the slave regulation systems, the rational values of which should be determined taking into account the resonance frequency of an EMS with an EC. Settings are proposed of slave regulation systems permitted providing the minimum possible amplitude of oscillations of the torque in the elastic transmissions of the mechanisms caused by the change of the disturbing action.