Papers by Robert Konowrocki
Solid State Phenomena, 2016
Journal of Theoretical and Applied Mechanics, 2013
Mechanical Systems and Signal Processing, 2016
This paper aims to investigate, both experimentally and theoretically, the electromechanical dyna... more This paper aims to investigate, both experimentally and theoretically, the electromechanical dynamic interaction between a driving stepping motor and a driven laboratory belt-transporter system. A test-rig imitates the operation of a robotic device in the form of a working tool-carrier under translational motion. The object under consideration is equipped with measurement systems, which enable the registration of electrical and mechanical quantities. Analytical considerations are performed by means of a circuit model of the electric motor and a discrete, non-linear model of the mechanical system. Various scenarios of the working tool-carrier motion and positioning by the belt-transporter are measured and simulated; in all cases the electric current control of the driving motor has been applied. The main goal of this study is to investigate the influence of the stepping motor control parameters along with various mechanical friction models on the precise positioning of a laboratory robotic device.
In the paper there is investigated experimentally and theoretically electromechanical dynamic int... more In the paper there is investigated experimentally and theoretically electromechanical dynamic interaction between the driving stepping motor and the driven laboratory belt-transporter system imitating an operation of the robotic device in the form of working tool-carrier under translational motion. The considered object is properly equipped with measurement systems enabling us a registration of studied electrical and mechanical quantities. The analytical considerations are performed by means of the circuit model of the electric motor and of the discrete, non-linear model of the mechanical system. In the investigated examples various scenarios of the working tool-carrier motion and positioning by the belt-transporter are measured and simulated, where in the all cases the electric current control of the driving motor has been applied.
Journal of Theoretical and Applied Mechanics
The aim of this paper is to present a method of the semi-active control of torsional vibrations i... more The aim of this paper is to present a method of the semi-active control of torsional vibrations in a working machine drive system by means of rotary actuators with a magneto-rheological fluid. The simple open-loop control strategy is proposed for a mechanical system vibrating in steady-state operating conditions. This semi-active control approach is based on the principle of optimum viscous damping and frictional properties realized by the magneto-rheological fluid, where its respective parameters are determined by the applied control electric currents. The analysis is performed theoretically by means of structural electro-mechanical models of the considered drive system as well as experimentally using a laboratory test rig in the form of a rotor-shaft system co-operating with two asynchronous motors generating properly programmed driving and retarding electro-magnetic torques.
The paper deals with the investigation of some phenomena which are essential for dynamic interact... more The paper deals with the investigation of some phenomena which are essential for dynamic interaction of a wheelset or bogie with the railways track. The track is modeled as discrete-continuous system composed of rails, fastening systems and sleepers interacting with ballast by means of viscous-elastic elements. Transient and stationary problems are investigated. The stationary periodic problems are connected with wave propagation in stopping bound, passing bound and mistuning. In the paper a review of selected problems and exemplary results of simulation and experimental investigations is given supplemented by a few results of analysis and simulation.
The paper presents the results of vibration measurements on line of railway during passages of a ... more The paper presents the results of vibration measurements on line of railway during passages of a train at a constant speed. The measurements have been performed on a railway track at straight and curve sections as well as and inside the train on the floor. The experimental results exhibited higher amplitudes of vibrations on the curve of the track than on its straight segments. The lateral slip in rail/wheel contact zone is considered as a possible reason of such a phenomenon.
The thesis describes the dynamic phenomena accompanying the wheel rolling over a road (rail, trac... more The thesis describes the dynamic phenomena accompanying the wheel rolling over a road (rail, track), with lateral slip effects.They occur in rolling of a wheel and wheelset on a straight track in the case of lateral load and especially on curves. Different curvature radii and rotary oscillations of wheelsets result in skew rolling and, in turn, in lateral slip oscillation in the contact zone between the wheel and rail. It significantly increases noise and wear in real structures. Double periodicity of motion was detected in an underground train. Hitherto, this phenomenon has not been reported in the literature. Experimental investigation was performed on a test stand for various parameters: the angle of skew rolling, velocity and contact pressure. Results were related to a two degree-of-freedom theoretical system. In the case of steel/polyester and polyamide/polyester friction pair, qualitatively similar results were obtained. The paper is written in Polish language
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Papers by Robert Konowrocki