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Abstract:
- the paper analyzes the dynamic behaviour of the
director device mechanism of a hydraulic turbine,
known also as the wicket gate or governing
mechanism of the turbine;
- it is applied an inverse dynamic analysis substituted
by experimental research and the finite element
method;
- for the dynamic analysis, the formalism Newton-Euler
is used, complemented by Lagrange multipliers
method; the forces acting in the kinematic pairs in
dynamic regime are identified, knowing the driving
force and the resistance force, whose variation laws
were experimentally determined.
INTRODUCTION
The closing-opening movement of the director device of a
hydraulic turbine is obtained using two servo-engines.
The closing tension is created by a levers system with
left-right thread and the system protection is provided
by the shear pins calculated to break and cut out the
blade in order to not overstress the mechanism.
M i mi , J C1
i 1,7
- the mass of the link i;
mi
- J - the moment of inertia about an axis passing
C!
through the mobile reference system region;
- Q a - the generalized forces matrix corresponding to the
i
link i.
where: M
- the masses matrix;
q - the generalized coordinate vector;
J q- the Jacobian corresponding to the
generalized coordinate vector;
- Lagrange multipliers vector;
Q a- the generalized active forces matrix.
It is obtained a system of equations having the following
form:
x1 , y1 , z1 ,1 , x 2 , y 2 , z 2 , 2 , x3 , y 3 , z 3 , 3 , x 4 , y 4 , (4)
0
z 4 , 4 , x5 , y 5 , z 5 , 5 , x 6 , y 6 , z 6 , 6 , x 7 , y 7 , z 7 , 7
J q q
J q q 2 J q q J q q q q 2
t
J q q a
(7)
(8)
(9)
J q
J qT q Q a
0 a
(10)
Q
T 1
Jq
Mq
(11)
MATHEMATICAL MODELS
PROCESSING
For processing the mathematical models defining the
inverse dynamic analysis, it is used the Maple
programming environment. The input data are:
- The variation law of the generalized coordinate:
(12)
S 0.2078t 0.0063
Fr 12.464 t 1278.2755
(13)
cos 2.98122345 .5673899555 10 3 t .3057903923 10 6 t 2
(14)
a)
b)
CONCLUSIONS
Using the finite element modeling, the stress,