Dynamics of Motion of the System «Electric Motor – Mechanism of Class IV with Dwell Driven Links» During Acceleration
Keywords:the electric motor, IV class mechanism with dwell driven links, differential equations of motion of IV class mechanism, the second type Lagrange equations, constraint equations, angular speeds.
In this article electromechanical system "electric motor – mechanism IV class with dwell driven links" is considered. The problem of finding the motion equations of system using the second type Lagrange equations with indefinite multipliers is solved. In work the method given in A.Myklebust is used, therewere obtained the equation of speed ratio. Numerical values of the lengths of mechanism links and physical parameters of the electric motor are given. The graphs of the links of mechanism IV class and the motor shaft in MatLab program are obtained.Analysis of the graphs showed that the steady speed of all the links is achieved in 1.5 seconds. The driving link or the motor speed is equal to 10 rad/s and achieved by 0,4 seconds, followed by speed fluctuations, which make up about 30-35%. High initial current is valid during the time equal to 1.5 seconds.