<p>The purpose of this Master Thesis is to improve the driving performance of mine hoists. The work is divided into two parts. The first and main part deals with simulation of the rope elongation that occurs at load changes in the mine hoist. A mathematical load model of the elongation in the ropes at a mine hoist is made for four types of mine hoists. Mass less springs and dampers are used to get the elastic behaviour of the ropes.</p><p>The mathematical model is implemented in Matlab and Simulink for all four hoist types to make load simulations possible. The implementation in the laboratory HoistLab is made by modifying an existing program with the line elongation functionality. It is only done for the tower mounted friction hoist. There are several functions that are modified to make the simulations realistic.</p><p>The task for the second part of this Master Thesis is to do a pilot study to decide if it is worth making further investigations about how the derivative part will improve the drive performances. A PI controller is designed and gives an acceptable rollback as result when the brakes are released. Then the controller model is extended with the derivative part, D-part, which improves the results essentially. It is still too uncertain how sensitive the system will be for noise when using the derivative part, but the performance potential is clear so the recommendation is to make further investigations.</p> / <p>Syftet med detta examensarbete är att förbättra driftegenskaperna för gruvspel. Arbetet är uppdelat i två olika delar. Den första och största delen handlar om simulering av den lintöjning som uppkommer vid lastförändringar i gruvspel. Matematiska modeller för detta är framtagna för fyra olika sorters typer av gruvspel. Elasticiteten i linorna är modellerad genom masslösa fjädrar och dämpare.</p><p>De matematiska sambanden är implementerade i Matlab och som modeller i Simulink för att utföra simuleringar. I HoistLab är modellen realiserad genom att utöka ett befintligt lastsimuleringsprogram med de nya funktionerna för lintöjning. Detta är utfört enbart för den toppmonterade typen av friktionsspel. Ett flertal funktioner fick ändras för att få realistiska simuleringar.</p><p>Den andra delen av examensarbetet går ut på att göra en förstudie kring den deriverande delen i PID-regulatorer och hur den påverkar gruvspelets prestanda. För denna del är en PI-regulator som ger ett acceptabelt resultat av backgången när bromsarna släpps designad. Därefter är modellen utökad med den deriverande delen, D-delen, vilket ger väsentligt bättre resultat. Det är dock osäkert hur bruskänsligt systemet blir när den deriverande delen används men eftersom förbättringspotentialen är tydlig är rekommendationen att göra vidare undersökningar kring D-delen.</p>

The purpose of this Master Thesis is to improve the driving performance of mine hoists. The work is divided into two parts. The first and main part deals with simulation of the rope elongation that occurs at load changes in the mine hoist. A mathematical load model of the elongation in the ropes at a mine hoist is made for four types of mine hoists. Mass less springs and dampers are used to get the elastic behaviour of the ropes. The mathematical model is implemented in Matlab and Simulink for all four hoist types to make load simulations possible. The implementation in the laboratory HoistLab is made by modifying an existing program with the line elongation functionality. It is only done for the tower mounted friction hoist. There are several functions that are modified to make the simulations realistic. The task for the second part of this Master Thesis is to do a pilot study to decide if it is worth making further investigations about how the derivative part will improve the drive performances. A PI controller is designed and gives an acceptable rollback as result when the brakes are released. Then the controller model is extended with the derivative part, D-part, which improves the results essentially. It is still too uncertain how sensitive the system will be for noise when using the derivative part, but the performance potential is clear so the recommendation is to make further investigations. / Syftet med detta examensarbete är att förbättra driftegenskaperna för gruvspel. Arbetet är uppdelat i två olika delar. Den första och största delen handlar om simulering av den lintöjning som uppkommer vid lastförändringar i gruvspel. Matematiska modeller för detta är framtagna för fyra olika sorters typer av gruvspel. Elasticiteten i linorna är modellerad genom masslösa fjädrar och dämpare. De matematiska sambanden är implementerade i Matlab och som modeller i Simulink för att utföra simuleringar. I HoistLab är modellen realiserad genom att utöka ett befintligt lastsimuleringsprogram med de nya funktionerna för lintöjning. Detta är utfört enbart för den toppmonterade typen av friktionsspel. Ett flertal funktioner fick ändras för att få realistiska simuleringar. Den andra delen av examensarbetet går ut på att göra en förstudie kring den deriverande delen i PID-regulatorer och hur den påverkar gruvspelets prestanda. För denna del är en PI-regulator som ger ett acceptabelt resultat av backgången när bromsarna släpps designad. Därefter är modellen utökad med den deriverande delen, D-delen, vilket ger väsentligt bättre resultat. Det är dock osäkert hur bruskänsligt systemet blir när den deriverande delen används men eftersom förbättringspotentialen är tydlig är rekommendationen att göra vidare undersökningar kring D-delen.

Cette étude traite du dépiégeage et de la dynamique des systèmes élastiques désordonnés. Ce cadre regroupe une large classe de systèmes allant des interfaces (tel les que les parois de domaines dans les systèmes magnétiques ou ferroélectriques) aux systèmes périodiques(comme les réseaux de vortex dans les supraconducteurs de type II, les colloïdes ou encore les cristaux de Wigner). Dans ces systèmes, la compétition entre l'élasticité de la structure qui veut imposer un ordre parfait et le désordre induit une grande richesse dans le diagramme de phase. L'étude est menée par simulations numériques à grande échelle, dans lesquelles nous nous intéresserons spécifiquement aux réseaux 2D de vortex supraconducteurs.Deux types de dépiégeage sont observés lorsque l'on met en mouvement ces réseaux à l'aide d'une force extérieure : un dépiégeage plastique et un dépiégeage élastique. Nous porterons notre attention sur le dépiégeage élastique obtenu dans le cas d'un piégeage faible. A travers une analyse en loi d'échelle à température nulle et à température finie nous montrons le caractère continu de la transition de dépiégeage au seuil de dépiégeage. Divers exposants critiques sont déterminés dont l'exposant ß et δ caractérisant la dépendance en force et en température de la vitesse ou bien l'exposant ν caractérisant la divergence de la longueur de corrélation du système. Un modèle visco-élastique simple permettant de décrire la plasticité dans les systèmes périodiques évoluant sur un potentiel de piégeage en présence de désordre fort est également développé. Une grande variété de comportementsdynamiques, similaires à ceux observés à plus grande échelle dans des systèmes périodiques, peuvent être extraits d'un tel modèle. Un dépiégeage élastique ou plastique est observé, de l'hystérésis est mesurée dans le cas du dépiégeage élastique, et du chaos est détecté pour le dépiégeage plastique. / In this work we study the depinning and the dynamics of disordered elastic systems. This framework encompasses a broad class of systems from interfaces (like magnetic or ferroelectric domains walls) to periodic structures (like vortex lattices in type II superconductor, colloids or Wigner crystals). In these systems, the competition between the elasticity of the structure that wants to impose a perfect order and disorder produces a great variety of phases and transitions. The study is conducted by large-scale numerical simulations, in which we focus specifically on 2D superconductor vortex lattices. Two types of depinning are observed when we set in motion these lattices using an external force : a plastic depinning and an elastic depinning. We will focus on the elastic depinning obtained when the pinning is weak. Using a scaling law analysis at both zero and nonzero temperature we show that the depinning transition is continuous near the depinning threshold. Various critical exponent are evaluated such as the ß and δ exponents characterizing the force and temperature dependances of the velocity or the ν exponent characterizing the divergence of the correlation length of the system. A simple viscoelastic model allowing to describe plasticity in periodic structures driven over a strong disordered medium is also developed. A wide variety of dynamical behaviors, similar to those observed on a larger scale in periodic systems, can be extracted from such a model. An elastic or plastic depinning is observed, hysteresis is measured in the case of elastic depinning, while chaos is detected for plastic depinning.

Orientador : João Mauricio Rosario / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-03T08:57:26Z (GMT). No. of bitstreams: 1 David_SergioAdriani_D.pdf: 6908391 bytes, checksum: 3f7717f958c96997fd34af75cca160e5 (MD5) Previous issue date: 2003 / Resumo: Neste trabalho desenvolveu-se a modelagem dinâmica de estruturas flexíveis, a investigação de seu comportamento não linear por meio de simulações numéricas e a validação experimental através da montagem de um protótipo. Ressalta-se que em se tratando de sistemas não lineares, embora existam métodos de procedimento, não existe uma teoria única que possa atender às diferentes aplicações e necessidadesde análise não linear. Dessa maneira, abordou-se formas específicas de se tratar duas aplicações distintas, uma envolvendo manipuladores robóticos flexíveis e a outra um oscilador mecânico flexível. Desenvolveu-se ferramentas de modelagem, simulação, análise e implementação. A aplicação envolvendo o oscilador mecânico flexível teve âmbitos experimentais e os resultados de alguns ensaios sugerem uma boa concordância com o modelo teórico. Os resultados obtidos desse trabalho e o aparato experimental montado, ambos, permitem que diversas investigações futuras ainda possam ser realizados definidas e podem agregar conhecimento sobretudo aos interessados em temas relacionados à estruturas flexíveis e análise não linear / Abstract: This work deserihes the dynamic modeling of flexible structures. the investigation about its nonlinear behaviour through numerical simulations and the construction of an experimental appararus in order to validate the model. I outline the fact that to deal with nonlinear systems, although there are conduct method, there isn't a unique theory that could to attend to different applications and necessities of nonlinear analysis. For this reason, specific approach had been presented to deal with two applications, flexible robot manipulators and flexible mechanical oscillator. Dynamic modeling, numerical simulation, analysis and implement are performed. The application which involves the flexible mechanical oscillator have experimental scope and the results have showed a good agreement with the theoretical model. The results obtained and the experimental apparatus COnstructed. both, allow sundry future investigations and can add knowledge specially to the interested in flexible structures and nonlinear analysis / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Cette thèse présente plusieurs aspects de la physique des systèmes élastiques désordonnés et des méthodes analytiques utilisées pour les étudier. On s’intéressera d’une part aux propriétés universelles des processus d’avalanches statiques et dynamiques (à la transition de dépiégeage) d’interfaces élastiques de dimension arbitraire en milieu aléatoire à température nulle. Pour étudier ces questions nous utiliserons le groupe de renormalisation fonctionnel. Après une revue de ces aspects,nous présenterons plus particulièrement les résultats obtenus pendant la thèse sur (i) la structure spatiale des avalanches et (ii) les corrélations entre avalanches.On s’intéressera d’autre part aux propriétés statiques à température finie de polymères dirigés en dimension 1+1, et en particulier aux observables liées à la classe d’universalité KPZ. Dans ce contexte l’étude de modèles exactement solubles a récemment permis de grands progrès. Après une revue de ces aspects, nous nous intéresserons plus particulièrement aux modèles exactement solubles de polymère dirigé sur le réseau carré, et présenterons les résultats obtenus pendantla thèse dans cette voie: (i) classification des modèles à température finie sur le réseau carré exactement solubles par ansatz de Bethe; (ii) universalité KPZ pour les modèles Log-Gamma et Inverse-Beta; (iii) universalité et nonuniversalitéKPZ pour le modèle Beta; (iv) mesures stationnaires du modèle Inverse-Beta et des modèles à température nulle associés. / This thesis presents several aspects of the physics of disordered elastic systems and of the analytical methods used for their study.On one hand we will be interested in universal properties of avalanche processes in the statics and dynamics (at the depinning transition) of elastic interfaces of arbitrary dimension in disordered media at zero temperature. To study these questions we will use the functional renormalization group. After a review of these aspects we will more particularly present the results obtained during the thesis on (i) the spatial structure of avalanches and (ii) the correlations between avalanches.On the other hand we will be interested in static properties of directed polymers in 1+1 dimension, and in particular in observables related to the KPZ universality class. In this context the study of exactly solvable models has recently led to important progress. After a review of these aspects we will be more particularly interested in exactly solvable models of directed polymer on the square lattice and present the results obtained during the thesis in this direction: (i) classification ofBethe ansatz exactly solvable models of directed polymer at finite temperature on the square lattice; (ii) KPZ universality for the Log-Gamma and Inverse-Beta models; (iii) KPZ universality and non-universality for the Beta model; (iv) stationary measures of the Inverse- Beta model and of related zero temperature models.