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1
Analiza cyklu roboczego manipulatora o czterech stopniach swobody
Cekus D., Skrobek D.
Modelowanie Inżynierskie
|
2016
|
T. 27, nr 58
13--17
PL
Niniejsza praca przybliża zagadnienia związane z modelowaniem manipulatora o czterech stopniach swobody i wyznaczaniem obciążeń jego napędów podczas cyklu roboczego. Zaproponowany algorytm obliczeń pozwala zweryfikować poprawność dobranych napędów poszczególnych członów analizowanego obiektu. Praca została uzupełniona wynikami z przeprowadzonych przykładowych badań symulacyjnych dla zadanych wymuszeń kinematycznych.
EN
This paper introduces problems of the modelling of four degrees of freedom manipulator and the determination of loads of its drives during the working cycle. The proposed computational algorithm makes it possible to verify the correctness of selected drives of individual members of the analyzed object. The results of simulation studies carried out for given sample kinematic excitations have been presented.
2
Zagadnienie optymalizacji ruchu manipulatora o czterech stopniach swobody
Posiadała B., Tomala M.
Przegląd Mechaniczny
|
2015
|
nr 3
30--34
PL
W pracy przedstawiono zagadnienie optymalizacji cyklu roboczego przestrzennego manipulatora o czterech stopniach swobody. Celem optymalizacji jest minimalizacja obciążeń w aktuatorach manipulatora. Zmiennymi decyzyjnymi są parametry ruchu w każdym rozpatrywanym manipulatorze: chwila załączenia ruchu oraz prędkość nominalna, z jaką odbywa się ruch. Wykorzystanym algorytmem optymalizacyjnym jest algorytm roju cząstek przy uwzględnieniu ograniczeń, jakim podlegają wartości zmiennych decyzyjnych. W pracy zamieszczono wyniki przykładowych obliczeń numerycznych.
EN
In this work, the problem of working cycle optimization of spatial manipulator with four degrees of freedom has been presented. The optimization aims to minimize loads in actuators of the manipulator. Design variables are initial moments and rated velocities in each considered actuator. These variables are constrained by several functions The optimization method used in this work is Particle Swarm Optimization. An exemplary computation has been performed and the results of the computation are attached to the paperwork.
3
Content available The cascade exchanger and new principles of the organization of working process of the sag-turbine engine
Klyus O., Krajniuk A.
Journal of Polish CIMAC
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2012
|
Vol. 7, no 1
87-97
EN
Main trends of perfection of gas-turbine engines (GTE) by application of principles of the cascade pressure exchange (CPE) for air compression in the working cycle of gas-turbine plant have been analyzed. The results of computational investigation of four variants of the GTE working process organization on the basis of the two-staged compression assembly with intermediate cooling and heating of air-gas medium have been adduced. Possibility and reserve of raise of power efficiency of GTE with the CPE at the expense of increase in the maximum temperature of the cycle and recuperation of the residual heat of compressing gases have been shown.
4
Content available The new devices of gas-turbine engines of ground transport on the basis cascade pressure exchanger of krajniuk
Krajniuk A.
Transport Problems
|
2011
|
T. 6, z. 2
107-119
EN
Main trends of perfection of gas-turbine engines (GTE) of transport plants by application of principles of the cascade pressure exchange (CPE) for air compression in the working cycle of gas-turbine plant have been analyzed. The principle of action and performances of work of heat compressor CPE realizing compression of working body on the whole at the expense straight convert inputting heat in disposing work of torrent with insignificant distraction mechanics work from shaft selection of power has been described. The results of computational investigation of four variants of the GTE working process organization on the basis of the two-staged compression assembly with intermediate cooling and heating of air-gas medium have been adduced. Application of units CPE in the capacity of compressing stage GTE opens the prospect of adaptations GTE performance by conditions of work in the capacity of forcing units of overland transport.
5
Content available The cascade exchange pressure supercharger of transport diesel with deep cooling cycle air
Krajniuk A., Krajniuk A.
Transport Problems
|
2011
|
T. 6, z. 3
67-76
EN
The new principle of the organisation of working process of the combined supercharging system of transport diesel with the Cascade Pressure Exchanger (CPE) has been described. It allows considerably to raise level of forcing of the engine by supercharging at the expense of expansion of effective air supply area and coolings of supercharging air to temperature below an ambient. Substantive postulates of imitating model of work of combined engine(CICE) have been stated. Some results of calculation-experimental investigations of supercharging system of the engine 6×Í12/14 have been given. It confirms the possibility of the essential improvement tractive and fuel-economic factors of the transport installations in broad range of the working conditions.
6
Modelowanie i badania symulacyjne ruchu żurawia leśnego w cyklu roboczym
Posiadała B., Waryś P.
Modelowanie Inżynierskie
|
2011
|
T. 10, nr 41
331-338
PL
W niniejszej pracy przedstawiono zagadnienie modelowania i badań symulacyjnych ruchu żurawia leśnego w cyklu roboczym. Opisano model obliczeniowy oraz zamieszczono przykładowe wyniki symulacji. Model i badania ruchu obiektu przeprowadzono w środowisku obliczeniowym SolidWorks i Matlab Simulink. Opracowany model obliczeniowy pozwala analizować wpływ poszczególnych ruchów roboczych na zachowanie obiektu, przy czym możliwa jest zmiana konfiguracji badanego układu oraz parametrów geometrycznych i fizycznych modelu.
EN
In this work the modeling and simulation of the forest crane motion during the working cycle have been considered. The simulation model and the exemplary results are described. SolidWorks program was used for modeling the structure of the crane's geometry. Matlab/Simulink package was used to generate the forest crane movement, to visualize motion parameters and to animate the system. The created simulation model enable one to analyse the behaviour of the system elements during the working cycle. The influence of any particular elements to the other element of the system can be investigated. In the model the configuration of its geometry and physical system parameters can be changed.
7
Content available Analysis and evaluation of the working cycle of the diesel engine
Rudnicki J.
Journal of Polish CIMAC
|
2011
|
Vol. 6, no 1
171-180
EN
The paper presents a proposal to apply a quantitative evaluation of the diesel engine with regard to the phenomena occurring during of a working cycle. The proposed procedure when analyzing test results from diesel engine is an attempt to transfer an engine activity evaluation methods in the operational time scale (exploit time), eg. in hours, to the micro-scale (dynamic time) relating only to the execution time of one (several) working cycles.
8
Content available Thermal compressor of cascade exchange by pressure
Krajniuk A.
Transport Problems
|
2010
|
T. 5, z. 1
15-22
EN
A new method of organization of working cycle of device of direct transformation of heat in the located work of compression of air, based on principle of cascade exchange by pressure, is exposed; the results of pre-selection of basic dimensional and structural parameters of thermal compressor of cascade exchange by pressure are adduced; some special features of its working process are considered; main directions of perfection of working cycle of thermal compressors of cascade exchange of pressure are shown.
9
Content available The identification of model parameters for a semi-empirical model of working process in the compression-ignition engine
Brzozowski K., Nowakowski J.
Journal of KONES
|
2010
|
Vol. 17, No. 3
41-48
EN
The paper concerns the identification process applied for a semi-empirical model of working process in the CI engine. The identification is based on pressure courses in the cylinder recorded during the experimental measurements on the test stand and is performed for estimation of values of the model parameters. Appropriate estimated values of the model parameters ensure minimization of the difference between measured and modelled pressure courses in the cylinder. The identification process can be divided into two stages. The first stage concerns identification of discrete values of the model parameters for a set of discrete engine operating conditions. The task of discrete identification is formulated as a dynamic optimisation task which is sohed using a genetic algorithm. The accuracy of the identification process is evaluated by comparison of measured and calculated values of main parameters which characterize the working cycle such as: the mean indicated pressure, thermal efficiency, the mean indicated pressure in working part of the cycle, maximal pressure of the cycle, the mass of the medium in the cylinder and the crankshaft angle for which the maximal pressure occurred. The second stage concerns generalization of the results for any technically possible engine operating conditions which is sohed by means of approximation. Feed-forward multilayer artificial neural networks are usedfor the approximation. The accuracy of the identification and some examples of verification of the model predictions are presented as well.
10
Content available Optimization of the working cycle of harbour cranes
Vukovic J., Bugaric U., Glisic D., Petrovic D.
Journal of Theoretical and Applied Mechanics
|
2007
|
Vol. 45 nr 1
147-159
EN
The paper presents one of the possible ways optimization of motion of the harbour crane grab minimization of the working (unloading) cycle, energy consumption and material dissipation during the grab discharging. The optimization procedure of the working cycle is divided into two phases. Firstly, it is optimization of the cargo and grab motion and, secondly, determination of motion of the crane mechanisms upon the obtained optimal parameters of cargo and grab trajectory. The developed mathematical model enables direct application of the optimal contral theory methods, i.e. a method of optimization of cargo and grab motion by making use of Pontryagins maximum principle. All relevant expressions are derived analytically.
PL
W pracy przedstawiono jeden z możliwych sposobów optymalizacji ruchu chwytaka dźwigu portowego oraz minimalizacji cyklu roboczego pod kątem ograniczania zużycia energii oraz strat materiału podczas rozładunku. Procedurę optymalizacji cyklu roboczego podzielono na dwie fazy. W pierwszej zoptymalizowano ruch przenoszonego obiektu i chwytaka, podczas gdy w drugiej wyznaczono ruch pozostałych elementów dźwigu dla znalezionej optymalnej trajektorii obiektu i chwytaka. Sformułowany model matematyczny układu umożliwił na bezpośrednie zastosowanie metod teorii optymalnego sterowania, w tym optymalizacji z zasady maksimum Pontriagina. Wszystkie związane wyrażenia wyprowadzono analitycznie.
11
Content available Theoretical and real working cycle of four stroke piston engine
Ambrozik A., Jankowski A., Slezak M.
Journal of KONES
|
2007
|
Vol. 14, No. 2
9-18
EN
The most important problems concerning analyses of generalized computational thermodynamical working cycle of the four-stroke combustion engine are result of the identification of real indicating diagram. The analysis of working cycle of the four-stroke combustion engine is realized from point of view heat efficiency, the average theoretical cycle pressure, as well as of the influence of the organization working cycle on the value of the maximum pressure in the cylinder of a combustion engine. A novel mathematical model reflecting elementary processes occurring in the cylinder of a combustion engine and connected with it intake and exhaust systems of engine were proposed. Thermodynamical working cycles of four-stroke piston engines, theoretical working cycle of a four-stroke piston engine, thermal efficiency of the theoretical thermodynamic generalised engine work cycle, mean theoretical pressure of the generalised thermodynamic work cycle of a combustion engine, maximum pressure of the theoretical thermodynamic work cycle of a combustion engine, comparative working cycles of piston engines, real working cycle of four-stroke piston engines are presented In het paper. The methods of analyses and calculations referring these engines work cycles were presented. These method show advisability and needs of using them to theoretical calculations and analyses of real work cycles. Generalized engine work cycle was proposed.
12
Content available Novel method appointing of the effective heat release coefficient during combustion process based on real indicator diagram
Jankowski A., Ambrozik A., Jankowska-Sieminska B., Ślęzak M.
Journal of KONES
|
2007
|
Vol. 14, No. 4
133-142
EN
An object of the paper is a novel method of effective heat release coefficient appointing during combustion process of the based on the real indicator diagram. The process quality of the heat release during process of combustion is evaluated by value of the effective heat release coefficient. Accepted assumptions at appointing effective coefficient of heat release refer to acceptable that thermodynamical parameters of the working charge according to points of the real indicator diagram and the computational diagram are such the same, the maximum pressure of real working cycle of the engine is equal to the pressure of the computational cycle, work of the working charge performed in period from point of closing of the inlet valve to point of the beginning of the exhaust process are for both considered working cycles equal, heat values of the carried to the real and computational cycle are such the same. The method of appointing of the self-ignition delay period is presented in the paper, using to this end intersection point of two graphs of temperature course of the working charge prepared for the first phase of combustion process. Other methods appointing characteristics is suggested in paper basing on the real indicator diagram. The graphic illustration of the preparing method of characteristics of the relative quantity of the heat release during combustion process is illustrated in paper.
13
Content available remote Application of optimisation to scaling of the mathematical model of working cycle of CI engine.
Brzozowski K., Nowakowski J.
Archive of Mechanical Engineering
|
2005
|
Vol. LII, nr 1
21-39
EN
The paper presents a method of choosing parameters of a mathematical model for simulation of working cycle of compression-ignition engine on the basis of experimantal measurements. In order to choose the parameters of the model, the Nelder-Mead method has been used. As a result of such an approach, a simplified mathematical model with very good numerical effectiveness can be used for simulation of the working cycle of the engine, while very good compatibility of numerical results and experimental measurements is ensured. Suitable algorithms and results of calculations are presented.
PL
W pracy przedstawiono, jak w oparciu o wyniki badań doświadczalnych silnika o zapłonie samoczynnym, można dobrać parametry modelu matematycznego pozwalającego na symulację cyklu roboczego silnika. Do doboru parametrów modelu (skalowania), zastosowano metodę optymalizacji Nelder-Meadsa. W wyniku tego postępowania zapewniono, iż uproszczony model matematyczny, cechujący się dużą efektywnością numeryczną, umożliwia symulację cyklu roboczego silnika, zapewniając możliwie dużą zgodność wyników obliczeń i pomiarów. Postępowanie zilustrowano odpowiednimi algorytmami i wynikami obliczeń.
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