Open AccessSimulacija i odstranjivanje stick-slip efekta servosistema sprovodnog aparata hidraulične turbine
Author(s) -
Darko Babunski,
Emil Zæv,
Nikola Tuneski,
Laze Trajkovski,
Radmila Koleva
Publication year - 2021
Publication title -
energija/energija, ekonomija, ekologija
Language(s) - English
Resource type - Journals
eISSN - 2812-7528
pISSN - 0354-8651
DOI - 10.46793/eee21-1.37b
Subject(s) - slip (aerodynamics) , control theory (sociology) , servomechanism , hydraulic cylinder , actuator , turbine , engineering , hydraulic turbines , hydraulic motor , servo , mechanical engineering , hydraulic machinery , impeller , control engineering , computer science , control (management) , electrical engineering , artificial intelligence , aerospace engineering
Friction is a repeatable and undesirable problem in hydraulic systems where always has to be a tendency for its removal. In this paper, the friction model is presented through which the most accurate results are achieved and the way of friction compensation, approached trough technique presented with the mathematical model of a hydraulic cylinder of a hydro turbine wicket gate controlled by a servomechanism. Mathematical modelling of a servo mechanism and hydraulic actuator, and also the simulation of hydraulic cylinder as a part of a hydro turbine wicket gate hydraulic system where the stick-slip phenomenon is present between the system components that are in contact is presented. Applied results in this paper and the theory behind them precisely demonstrate under what circumstances the stick-slip phenomenon appears in such a system. The stick-slip effect is simulated using Simulink and Hopsan software and the analysis of the results are given in this paper. Removal of the stick-slip effect is presented with the design of a cascade control implemented to control the behaviour of the system and remove the appearance of a jerking motion.