Research of electromechatronic systems with variable parameters using the example of a transport mechanism

Abstract

In the article an analysis of the influence of the variability of the system's mass on its dynamics in electromechatronic systems is presented.

It is shown that electromechatronic systems with variable parameters are particularly relevant, as their operation is accompanied by dynamic changes in mass, inertial, force, and kinematic characteristics during operation. These changes are caused by load variations, uneven material feed, changes in speed modes, and the influence of external factors, significantly complicating control processes. This necessitates the use of modern methods of mathematical modeling and analysis to ensure the effective operation of such systems. It is shown that transport mechanisms, particularly conveyors, are typical examples of electromechatronic systems with variable parameters. It is established that, in general, three types of dynamic forces (torques) arise in a mechanical system: the first arises from changes in the system's speed, the second from changes in the mass (moment of inertia), and the third from changes in the gear ratio. Therefore, a very large number of possible system behaviors are possible.

Given the complexity of the process, mathematical modeling has been established as the only method for studying processes in mechanical systems with variable parameters. The MATLAB/Simulink software package is used in the research. A short conveyor loader operating in reversible mode to dispense bulk material into passing containers is considered as a system for studying the effect of mass variability on the system's dynamics. The kinematic and structural diagrams of the loader are presented and analyzed in detail, taking into account the relationships between its main components, allowing us to reflect the features of motion transmission and the formation of operating modes. The operating principle of individual components and their impact on the overall system dynamics are described. Furthermore, the mechanical characteristics of the loader's electric drive are studied, their main parameters and patterns of change depending on the load and operating modes are determined, which is important for further analysis and synthesis of control systems.

A digital model of this mechanical system is presented in the MATLAB/Simulink environment. The conveyor acceleration process is simulated with no material on the belt, a fully loaded belt, and gradual loading. This results in transient processes during conveyor start-up at various throughput values. It is established that the influence of variable mass on the dynamics is significant when its value at maximum load is comparable to or greater than the constant mass.