Asmolova L. Improvement of electromechanical system dynamics under stick-slip frictional self-oscillations

Subject of the research : dynamic processes in open-loop and closed-loop electromechanical systems (EMS) under stick-slip frictional self-oscillations. Objective of the research: determination of ways of EMS dynamics improvement at low-speed runs due to stick-slip frictional self-oscillations elimination by means of regulated electric drive. Methods of the research: theory of electric drive and automatic control, theory of differential equations and Laplace transformations, topological method, differential calculus and numerical mathematics, linear algebra and least square method, relay modal control method, MATLAB-based simulation. Theoretical and practical results: analytical relations for stick-slip frictional self-oscillations conditions in one- and two-mass EMS, a computer model of friction characteristic under low-speed runs, EMS synthesis techniques providing open-loop system speed reduction below the open-loop system critical speed and stick-slip frictional self-oscillations elimination. Scientific novelty: first proved expediency of sliding-operation relay regulator application for stick-slip frictional self-oscillations elimination at speed substantially lower than the open-loop system critical speed; first revealed feasibility of the critical speed reduction with a neuroregulator ; improved mathematical model of the friction characteristic linearized in specific segments and nonlinear "in large", its adequacy proved; further progress in the research into action of external feedback over every phase coordinate. Implementation level: the dissertation results are given for implementation "SVET SHAKHTERA" Kharkiv Machine Building Corporation and integrated into educational process in Automated Electromechanical Systems Department in National Technical University "Kharkiv Polytechnic Institute" and in Training and Research Institute for Retraining and Professional Development of Faculty Members of Ukrainian State University of Railway Transport. Scope of applicability: machine tool building, robot manipulator manufacture, academic activities.