Abstract
The article proposes a simulation model of a loading machine for metallurgical furnaces and builds a mathematical model that makes it possible to find optimal trajectories of motion and obtain laws of change in kinematic, dynamic and inertial characteristics for a full operation cycle. The description of the machine motion is made taking into account the nonholonomy of the imposed connections and provides for the possibility of considering arbitrary laws of motion along optimal trajectories. Compliance with optimal working conditions is also ensured by the choice of a special law of motion between the nodal points on the trajectory of movement, corresponding to the change in the direction of movement of the loading machine. Based on the research results, a design scheme and a simulation model with an analytical description of the mechanism operation, including kinematic graphs, are proposed. A simulation model of a loading machine for metallurgical furnaces and a description of its operation modes are made by methods of analytical mechanics.
Highlights
In the steelmaking industry, radical quality changes have recently taken place due to the replacement of the open-hearth method by Basic oxygen steelmaking, creation of large basic oxygen units, powerful electric arc furnaces and new installations for special metallurgy, development and wide introduction of continuous casting machines [1].In the age of scientific and technological progress, the production of high-quality steel with high specific strength plays an especially important role
The use of a coordinated motion, in which several segments simultaneously participate in separate intervals, significantly reduces the execution time of a working operation, as opposed to the sequential inclusion of individual segments
The mathematical basis for coordinated motion control can be the method of setting the trajectory of motion of a mechanical system with several degrees of freedom of an interpolation curve in the corresponding configurational space, passing through the interpolation nodes, determined by the operating conditions of a particular machine
Summary
Radical quality changes have recently taken place due to the replacement of the open-hearth method by Basic oxygen steelmaking, creation of large basic oxygen units, powerful electric arc furnaces and new installations for special metallurgy, development and wide introduction of continuous casting machines [1]. The working cycle of the machine is simulated with the corresponding trajectory in the configuration space. There are two methods of controlling the operation of the machine: sequential inclusion of its individual segments in the work and coordinated motion. The use of a coordinated motion, in which several segments simultaneously participate in separate intervals, significantly reduces the execution time of a working operation, as opposed to the sequential inclusion of individual segments. The mathematical basis for coordinated motion control can be the method of setting the trajectory of motion of a mechanical system with several degrees of freedom of an interpolation curve in the corresponding configurational space, passing through the interpolation nodes, determined by the operating conditions of a particular machine. The goal of the study is to find the optimal motion trajectories of the floor loading, taking into account the nonholonomy of the applied connections, to build a mathematical simulation model of the machine's motion with the possibility to consider different laws of motion along optimal trajectories and to construct cycle schemes of the kinematic characteristics of its motion
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