Limitation of dynamic loads in digging mechanisms of mining excavators based on additional mechanical devices

The article presents the results of research related to the development of methods for limiting dynamic loads in the digging mechanisms of quarry excavators based on the use of additional mechanical devices represented in the form of mechanical feedback. Using the example of the hoisting mechanism of a quarry excavator, the dynamics of which are described by second-order differential equations, a synthesis of mechanical feedbacks is carried out based on the solution of the inverse problem of dynamics for a given nature of the change the force in the rope and the structural interpretation of the obtained solution using the apparatus of the theory of mechanical circuits and the methods of structural mathematical modeling. A procedure is described for obtaining “control actions” that reduce dynamic loads in the digging mechanism based on the specification of the solution of a differential equation, the order of which is assumed to be one unit greater than the order of the characteristic polynomial of the original system, and the transition from these “actions” to the parameters of additional mechanical devices. It is shown that the “control actions” found by solving the inverse problem of dynamics make it possible to impose no restrictions on the structure of the means of technical implementation of additional mechanical devices and, thereby, formalize the procedure for their structural-parametric synthesis. The necessary analytical dependencies are presented for selecting the parameters of a mechanical device that ensures a given level of reduction of dynamic loads in excavator mechanisms, confirmed by the results of numerical modeling.

Iov I. A.¹, Cand. Sci. (Eng.), Associate Professor of the Department of Mining Machines and Electromechanical Systems, e-mail: iovivan@rambler.ru, https://orcid.org/0000−0003−3980−0681;
Kuznetsov N. K.¹, Dr. Sci. (Eng.), Professor, Head of the Department of Design and Standardization in Mechanical Engineering, e-mail: knik@istu.edu, https://orcid.org/0000−0002−3083−0182;
Zyryanov I. V.², Dr. Sci. (Eng.), Professor, Professor of the Department of Mining and Oil and Gas Engineering, e-mail: zyryanoviv@inbox.ru, https://orcid.org/0000−0003−2943−0138;
Khramovskikh V. A.¹, Dr. Sci. (Eng.), Associate Professor, Head of the Department of Mining Machinery and Electromechanical Systems, e-mail: wax@istu.edu, https://orcid.org/0000−0003−2943−0138.
¹ Federal State Budgetary Educational Institution of Higher Education “Irkutsk National Research Technical University” (IRNITU), 66407, Irkutsk, Lermontov St., 83;
² Polytechnic Institute (branch) of the Federal State Autonomous Educational Institution of Higher Education “North-Eastern Federal University named after M. K. Ammosov”, 678175, Mirny, Tikhonov St., 5, bldg. 1.

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