Marchuk L. Adaptive mechatronic system of impact destruction of rocks

The idea of this work is to use an adaptive mechatronic control system for the parameters of an impact device to effectively destroy rock in varying work environment conditions. The relevance of the work is highlighted by its significance for the mining industry, playing a key role in the global transition to renewable energy sources. The work aims to develop more energy-efficient and environmentally friendly extraction methods, particularly for non-ferrous metals such as lithium and cobalt. The growing demand for these metals creates a gap between current processing technologies and increasing needs, underscoring the urgent need for improved mining technologies. The development of an adaptive mechatronic system for rock destruction aligns with Ukraine's legislative priorities. The research was conducted according to the plan of the Department of Automation of Electromechanical and Mechatronic Systems as part of the research work "Improvement of Electromechanical and Mechatronic Systems." The main provisions of the dissertation include the aim, objectives, object, and subject of the research, as well as the research methods, which include mathematical modeling and the use of various software products. The novelty of the scientific findings and the practical significance of the results are also emphasized. The dissertation includes the results of publications and approbation of scientific achievements. The structure of the dissertation consists of an introduction, five chapters with conclusions for each chapter, general conclusions, a list of references, and appendices. The work contains 49 figures and one table on 117 pages. Part of the research was carried out within the framework of international academic mobility programs, such as Erasmus+ and the DAAD Eastern Partnership project. The dissertation analyzes modern mechatronic systems, particularly in the context of the global transition to renewable energy sources and the growing demand for metals. The necessity to improve the processes of mineral extraction using impact systems is discussed. The latest achievements in the field of electro-hydraulic drives and devices for rock destruction are thoroughly analyzed, comparing electric, hydraulic, and pneumatic drives, their advantages, and applications in various conditions. An energy recovery system using a hydraulic boom accumulator for an excavator with an innovative combination of open and closed control systems is reviewed. The model of an electro-hydraulic drive and an excavator boom using a 4/3-way control valve is also considered. A unique design of a directional impact device with a self-charging mechanism for the striker and a pneumatic accumulator is described. The analytical research methodology includes statistical calculations, modeling using nonlinear differential equations, and a discrete-continuous mathematical model. Key parameters affecting the efficiency of the impact device and the energy characteristics of the pneumatic accumulator are studied. Working ranges of gas compression and polytrope indicators are determined. The interaction between thermodynamic conditions and the energy parameters of the pneumatic accumulator is examined. The analysis showed that the adiabatic process demonstrates a slower rate of energy increase with increasing pressure. A nonlinear model in the form of a differential equation, reflecting the energy discharge process of the pneumatic accumulator during the striker's acceleration, was developed. Using the kinetostatic method allowed the calculation of inertia force and established the striker's acceleration profile. The method of reducing the order of the differential equation, simplifying the solution, and helping to establish the power dependence between the striker's speed and its displacement, was implemented. A simulation model of the impact device's operation in the Matlab system was developed, allowing the establishment of rational operating modes and system parameters, as well as forming requirements for the mechatronic adaptive control system for the rock destruction process. The increase in contact force between the impact tool and the soil mass demonstrated the potential capabilities of the adaptive system. The implementation of the mechatronic system with power supply in three versions is described. A block diagram of the system's operation and a diagram of the functional blocks' connections for adaptive control of the pressure in the pneumatic accumulator of the impact device are proposed. The main electrical parameters of the electromagnetic valve and its operating frequency parameters were calculated. The efficiency of the electromagnetic system's operation and the duration of continuous operation of the adaptive system were evaluated. The provided information reveals the behavior of the adaptive mechatronic control system of the impact device under various technological conditions and forms the basis for potential.