Mathematical model of TP-D electric drive is presented. The model is adapted for investigation of energy-efficient resonant modes of electromechanical system of cutting body of mining machines. Energy saving is achieved at the cost of rational law of motion of cutting tool taking into account dynamic cutting process of having reverse rotational trajectory of velocity coordinate in the contact area of cutting tool with rock massif. Such a process can be provided by means of resonant mode in electromechanical system using external disturbances. Resonant mode of functioning is achieved at matching of oscillation frequency of external disturbances with natural oscillation frequency of electromechanical system. Control system must support adjustment on resonant frequency and restrain amplitude of forced oscillation of current and electric motor speed. PID controller was proposed .as regulator of controlled resonant mode of functioning. Analytical studies by means of mathematical model has allowed to obtain dependences of natural oscillation frequency of electromechanical system and dynamic response factor of electric motor current (amplitude of current oscillation) upon parameters of controller, which has shown that adjustment on resonant frequency is achieved by means of differential part of PID controller. Limitation of force oscillations of current is performed by proportional part of controller.

For citation: Lyakhomsky A. V., Fashchilenko V. N. Development of energy-efficient controlled electromechanical resonance for processes of cutting and shattering of rock massif. MIAB. Mining Inf. Anal. Bull. 2019;(10):223-234. [In Russ]. DOI: 10.25018/0236-1493-2019-10-0-223-234.


Electromechanical system, control structure, energy-efficient resonant mode, proportional-integral-differential control mode, dynamic coefficient of current and speed, increase in performance of drilling.

Issue number: 10
Year: 2019
ISBN: 0236-1493
UDK: 62-83
DOI: 10.25018/0236-1493-2019-10-0-223-234
Authors: Lyakhomsky A. V., Fashchilenko V. N.

About authors: A.V. Lyakhomsky, Dr. Sci. (Eng.), Professor, Head of Chair, e-mail:, V.N. Fashchilenko, Dr. Sci. (Eng.), Professor, e-mail:, Mining Institute, National University of Science and Technology «MISiS», 119049, Moscow, Russia. Corresponding author: A.V. Lyakhomsky, e-mail:


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