Determination of parameters of elastic damping devices in mining shovel mechanisms

Introduction. The aim of the work is to develop a procedure for synthesizing the parameters of elastic-damping devices for shovel based on the representation of these devices in the form of additional feedbacks and optimization of the transfer functions of these feedbacks, which allows abstracting from specific methods of their implementation and making a comparative assessment and reasonable choice of device parameters. Research method. Optimization of the parameters of elastic-damping devices is carried out on the basis of using the root method for studying the characteristic polynomial of the transfer function of the additional feedback and setting the desired nature of the transient process, which is the solution of the original differential equation of motion with given roots. Results. A procedure for synthesizing the parameters of elastic-damping devices based on the representation of these devices in the form of additional feedbacks and optimization of the transfer functions of these feedbacks using root methods is proposed, which allows one to abstract from specific methods of their implementation and make a comparative assessment and reasonable choice of device parameters. Analytical dependencies are obtained, that establish a relationship between the parameters of elastic-damping devices and the quality of transient processes, making it possible to determine the effective range of these parameters. Numerical modeling of the electromechanical system of the digging mechanism of a mining excavator was carried out based on the use of its real characteristics, which confirmed the high efficiency of the proposed method for the synthesis of stiffness and damping parameters of elastic-damping devices. Currently, an experimental unit equipped with a prototype of an elastic-damping device is being created, on which it is expected to evaluate the performance and effectiveness of the proposed method for synthesizing parameters. After this, it is planned to contact potential consumers of such devices to determine the possibilities of practical application of both the devices themselves and the proposed method for synthesizing their parameters.