dr inż. Robert Konowrocki

Zakład Technologii Inteligentnych (ZTI)
Pracownia Sterowania i Dynamiki Układów (PSiDU)
stanowisko: specjalista
telefon: (+48) 22 826 12 81 wew.: 319
pokój: 436
e-mail: rkonow

Doktorat
2007-04-10Oddziaływanie koła z drogą z uwzględnieniem poślizgów bocznych 
promotor -- prof. dr hab. inż. Czesław Bajer, IPPT PAN
605
 
Promotor prac doktorskich
1.2015-11-18
pomocniczy
Konop Jacek  
(PW)
Dynamika układu pojazd szynowy - tor 

Ostatnie publikacje
1.Michajłow M., Jankowski Ł., Szolc T., Konowrocki R., Semi-active reduction of vibrations in the mechanical system driven by an electric motor, OPTIMAL CONTROL APPLICATIONS & METHODS, ISSN: 0143-2087, DOI: 10.1002/oca.2297, Vol.38, No.6, pp.922-933, 2017

Streszczenie:

In this paper, a semi-active damping approach is used for reduction of vibrations in a laboratory drivetrain system. The considered drivetrain system is powered by an electric, asynchronous motor at the one side and loaded with a harmonically varying torque on the other side. Here, an influence of electromechanical interaction, i.e., an electromechanical coupling, between the electric motor and the mechanical system has been taken into consideration. The harmonic load signal induces torsional vibrations in the system, which in the steady-state phase of motion become periodic. The aim of the work is to determine the optimal control function for a semi-active damping element, leading to vibration reduction and considering only the steady-state phase of system motion. The optimal control is derived by using a semi-analytical approach based on the optimal control theory aided with supplementary numerical computations. The proposed methodology is fully general, and it can be directly applied to any type of a periodically oscillating system.

Słowa kluczowe:

electric motor, electromechanical coupling, optimal control, periodic torsional vibrations, semi-active damping

Afiliacje autorów:

Michajłow M.-IPPT PAN
Jankowski Ł.-IPPT PAN
Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
30p.
2.Chudzikiewicz A., Bogacz R., Kostrzewski M., Konowrocki R., Condition monitoring of railway track systems by using acceleration signals on wheelset axle-boxes, Transport, ISSN: 1648-4142, DOI: 10.3846/16484142.2017.1342101, pp.1-12, 2017

Streszczenie:

The aim of this paper is to demonstrate the possibilities of estimating the track condition using axle-boxes and car-bodies motions described by acceleration signals. In the paper, the results presented indicate the condition of tracks obtained from the preliminary investigation on the test track. Furthermore, the results from the supervised runs (on Polish Railway Lines) of electric multiple unit (EMU-ED74) with the prototype of track quality monitoring system installed on-board are described. As track quality indicator (TQI) algorithm, used in the mentioned prototype, a modified Karhunen–Loève transformation is used in preliminary preparing acceleration signals. The transformation is used to extract the principal dynamics from measurement data. Obtained results are compared to other methods of evaluating the geometrical track quality, namely methods which apply the Jsynth Synthetic Coefficient and Five Parameters of Defectiveness W5. The results from the investigation showed that track condition estimation is possible with acceptable accuracy for in-service use and for defining cost-effective maintenance strategies.

Słowa kluczowe:

railway track monitoring, wheel–rail interaction, track quality indicator, acceleration signals, experimental investigation, track degradation.

Afiliacje autorów:

Chudzikiewicz A.-other affiliation
Bogacz R.-IPPT PAN
Kostrzewski M.-other affiliation
Konowrocki R.-IPPT PAN
15p.
3.Konowrocki R., Walczak S., Influence of Flexibility Parameters of Wheels and Wheelset on the Railway Bogie Dynamics -Experimental and Theoretical Investigations, Machine Dynamics Research, ISSN: 2080-9948, Vol.41, No.4, pp.41-53, 2017

Streszczenie:

The paper is devoted to the experimental and theoretical analysis of wheelset elastic properties on the railway vehicle-track interaction. Results of experimental measurements of stiffness components of wheelsets obtained by a new measurement method are shown. Some types of wheelsets are considered with different wheel-disk design. For the theoretical analysis of bending and torsional flexibility of the wheel and wheelset are used. To numerical modeling of the considered wheels and wheelsets models the Finite Element Method (FEM) are applied. Simulation of dynamic interaction between a railway bogie and a curved sector of track in the rigid multibody systems method (VI-Rail software) is modeled. Exemplary simulations results obtained from the bogie-track system model using flexible and rigid model of the wheel and wheelset are presented.

Słowa kluczowe:

experimental tests, contact force, measurement, bending wheelset, torsional flexibility wheel

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Walczak S.-Railway Research Institute (PL)
14p.
4.Konowrocki R., Szolc T., Pochanke A., Pręgowska A., An influence of the stepping motor control and friction models on precise positioning of the complex mechanical system, MECHANICAL SYSTEMS AND SIGNAL PROCESSING, ISSN: 0888-3270, DOI: 10.1016/j.ymssp.2015.09.030, Vol.70-71, pp.397-413, 2016

Streszczenie:

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.

Słowa kluczowe:

Belt transporter system, Precise positioning, Stepping motor, Current control, Experimental verification

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
Pochanke A.-other affiliation
Pręgowska A.-IPPT PAN
45p.
5.Konowrocki R., Szolc T., An analysis of the self-excited torsional vibrations of the electromechanical drive system, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.27, pp.187-194, 2016

Streszczenie:

This paper presents a dynamic analysis of torsional vibrations of the railway drive system. A dynamic electromechanical drive model has been created and then integrated with the railway wheelset-rail system to simulate self-excited torsional vibrations of the considered system. Results of this analysis are used in order to investigate the drive system’s sensitivity to torsional oscillations. Here, the dynamic electromechanical interaction between the electric driving motor and the rotating wheelset is considered. This investigation has proved that the torsional stiffness and damping of drivetrain system strongly affect amplitudes of the self-excited vibrations. A self-excited vibrations affecting on an energy consumption of the electric motor of the considered system are studied.

Słowa kluczowe:

torsional vibrations, electromechanical coupling, wheel-rail adhesion, wheelset drivetrain dynamic

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
5p.
6.Michajłow M., Konowrocki R., Szolc T., A semi-active control of lateral vibrations of the overhung rotor using dampers with the magneto-rheological fluid, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.27, pp.274-280, 2016

Streszczenie:

In the paper there is proposed an algorithm of an efficient semi-active control of steady-state periodic lateral vibrations of the overhung rotor-shaft system. This algorithm has been developed using fundamentals of the Optimal Control Theory. In the considered system the control is realized by means of the linear dampers withthe magneto-rheological fluid built in the bearing housing. The computational example demonstrates possibilities of the applied approach resulting in an additional reduction of out-of-resonance and near resonance harmonic oscillation amplitudes in comparison withan analogous passive control.

Słowa kluczowe:

overhung rotor-shaft, lateral vibrations, semi-active control, Optimal Control Theory

Afiliacje autorów:

Michajłow M.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
5p.
7.Michajłow M., Szolc T., Jankowski Ł., Konowrocki R., Semi-Active Reduction of Vibrations of Periodically Oscillating System, Solid State Phenomena, ISSN: 1662-9779, DOI: 10.4028/www.scientific.net/SSP.248.111, Vol.248, pp.111-118, 2016

Streszczenie:

Periodical vibrations are common phenomenon affecting a wide range of mechanical systems. Most frequently it affects machines designed to work in a steady-state conditions like: turbine, pump, rail vehicle, etc. In those kinds of machines it is always possible to decompose the system motion to basic average-speed constant component and oscillatory component. Usually the second term is treated as undesirable and various techniques are applied in order to minimize it as far as it is possible. These techniques refers to both the hardware selection – meaning the type of damping system (active, semi-active, passive) and the control method selection – meaning the damping system control method. Concerning the control methods, there are many algorithms available in literature devoted to transient systems. One of typical application is to use them in systems experiencing sudden, external force excitation. After destabilization of the system, caused by excitation, the role of the control algorithm is to restore the system stable position and additionally to reach the extreme of some additional criterion. Typical criterions are minimization of the time, of restoring the stable position, minimizing the consumed control energy, etc. On the other hand, considering the steady-state systems, especially based on semi-active damping elements, there are not so many control methods available.This paper focuses on developing the proper methodology for deriving the optimal control strategy of semi-active damping element, to be used in periodically vibrating mechanical system. The control strategy is developed on the basis of the Optimal Control Theory. Numerical computations are involved in order to solve the optimal control problem for the considered test system. Problem solution reveals the periodical nature of optimal control function.

Słowa kluczowe:

Optimal Control Theory, Periodical Vibrations, Vibration Reduction

Afiliacje autorów:

Michajłow M.-IPPT PAN
Szolc T.-IPPT PAN
Jankowski Ł.-IPPT PAN
Konowrocki R.-IPPT PAN
8.Konowrocki R., Pręgowska A., Szolc T., Experimental and numerical investigations for the controlled rotary damper dynamically interacting with the electromechanical rotating system, SOLID STATE PHENOMENA, ISSN: 1012-0394, DOI: 10.4028/www.scientific.net/SSP.240.198, Vol.240, pp.198-205, 2016

Streszczenie:

In the paper dynamic electromechanical coupling between the structural model of the rotating machine drive system and the circuit model of the asynchronous motor has been investigated. By means of the computer model of the rotating machine drive system the results of experimental testing have been confirmed. From the obtained results of computations and measurements it follows that the coupling between the considered rotating system and the installed rotary dampers with the magneto-rheological fluid (MRF) results in effective energy dissipation leading to significant reduction of undesired torsional vibrations.

Słowa kluczowe:

Electromechanical Coupling, Machine Drive Systems, Rotary MRF Actuator, Torsional Vibrations, Wavelet Transform (WT)

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Pręgowska A.-IPPT PAN
Szolc T.-IPPT PAN
9.Dyniewicz B., Konowrocki R., Bajer C.I., Intelligent adaptive control of the vehicle-span/track system, MECHANICAL SYSTEMS AND SIGNAL PROCESSING, ISSN: 0888-3270, DOI: 10.1016/j.ymssp.2014.12.007, Vol.58-59, pp.1-14, 2015

Streszczenie:

This paper presents the strategy of semi-active damping of vibrations of a beam span subjected to a moving load. Intermediate supports as controlled dampers significantly decrease transverse displacements in comparison with a system with permanently active dampers. The gain can reach 40% in the case of high speed loads. In a real structure with a load moving at 3 m/s, considered in this paper, the improvement is about 10%. The control is determined by a minimization procedure. Numerical simulations are confirmed experimentally on a stand with a length of 4 m. Controlled dampers can be replaced with an intelligent material. The potential applications are in transport or robotics.

Słowa kluczowe:

Moving inertial load, Intelligent adaptive control, Semi-active damping, Beam vibration

Afiliacje autorów:

Dyniewicz B.-IPPT PAN
Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
40p.
10.Bogacz R., Czyczuła W., Konowrocki R., Effect of periodicity of railway track and wheel–rail interaction on wheelset–track dynamics, ARCHIVE OF APPLIED MECHANICS, ISSN: 0939-1533, DOI: 10.1007/s00419-014-0981-4, Vol.85, pp.1321-1330, 2015

Streszczenie:

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 this 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.

Słowa kluczowe:

Moving load, Resonance, Periodicity, Passing band, Mistuning

Afiliacje autorów:

Bogacz R.-other affiliation
Czyczuła W.-Cracow University of Technology (PL)
Konowrocki R.-IPPT PAN
20p.
11.Szolc T., Konowrocki R., Michajłow M., Pręgowska A., An investigation of the dynamic electromechanical coupling effects in machine drive systems driven by asynchronous motors, MECHANICAL SYSTEMS AND SIGNAL PROCESSING, ISSN: 0888-3270, DOI: 10.1016/j.ymssp.2014.04.004, Vol.49, pp.118-134, 2014

Streszczenie:

In the paper dynamic electromechanical interaction between the rotating machine drive system and the electric driving motor is considered. The investigations are performed by means of the circuit model of the asynchronous motor as well as using an advanced structural hybrid model of the drive system. Using the analytical solutions applied for the electrical and the mechanical systems the electromagnetic stiffness and coefficient of damping, both generated by the electric motor rotationally interacting with the mechanical system of the given dynamic properties, were determined. By means of experimentally validated computational responses obtained for torsional harmonic excitation induced by the driven machine working tool, a modification of dynamic properties of the mechanical system by the electromagnetic flux between the stator and the rotor has been studied.

Słowa kluczowe:

Machine drive system, Asynchronous motor, Electromechanical coupling

Afiliacje autorów:

Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
Michajłow M.-IPPT PAN
Pręgowska A.-IPPT PAN
40p.
12.Bogacz R., Czyczuła W., Konowrocki R., Influence of Sleepers Shape and Configuration on Track-Train Dynamics, SHOCK AND VIBRATION, ISSN: 1070-9622, DOI: 10.1155/2014/393867, Vol.2014, pp.393867-1-7, 2014

Streszczenie:

The paper is devoted to the study of dynamical behaviour of railway tracks as continuous systems (rails) supported by periodically spaced sleepers and subjected to moving concentrated loads. Several cases of dynamical problems, where elastically supported beams are excited by a moving concentrated force, are considered. In particular, the study is focused on interactions with structure periodic in the space. Results on one-dimensional structures are extended to the case of a two-dimensional system. The problems of stopping bands, passing bands, and mistuning are also mentioned.

Słowa kluczowe:

railway track, moving load, dubble sleepers, vibration

Afiliacje autorów:

Bogacz R.-other affiliation
Czyczuła W.-Cracow University of Technology (PL)
Konowrocki R.-IPPT PAN
20p.
13.Konowrocki R., Kukulski J., Walczak S., Groll W., Dystrybucja energii cieplnej w elementach układu hamulcowego pojazdów dużych prędkości, Pojazdy Szynowe, ISSN: 0138-0370, Vol.2, No.suplement na płycie CD, pp.1-14, 2014

Streszczenie:

Artykuł poświęcony jest badaniom rozkładu ciepła wywołanego tarciem w ukła-dach hamulcowych stosowanego w pojazdach szynowych dużej prędkości. W pracy zapre-zentowano wyniki eksperymentalnych badań przeprowadzone na rzeczywistym obiekcie w skali 1:1. Nowością w pracy jest fakt analizy układu hamulcowego, w którym para cierna charakteryzowała się segmentacją powierzchni ciernej okładziny o dwóch materiałach ciernych. Materiałami tymi był kompozyt i spiek. W pracy przedstawiono także teoretyczną analizę i wyniki numeryczne ilustrujące dystrybucję ciepła w elementach modelu tarczy hamulcowej. Wykorzystano w tym celu na metodę elementów skończonych.

Słowa kluczowe:

systemy hamulcowe dużych prędkości, ciepło tarcia, okładzina hamulcowa spiekana-kompozytowa

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Kukulski J.-Railway Research Institute (PL)
Walczak S.-Railway Research Institute (PL)
Groll W.-Railway Research Institute (PL)
3p.
14.Kostrzewski M., Konowrocki R., Ocena stanu wybranych odcinków toru testowego z wykorzystaniem wskaźnika jakości toru, Pojazdy Szynowe, ISSN: 0138-0370, Vol.2, No.suplement na płycie CD, pp.1-17, 2014

Streszczenie:

Artykuł dotyczy zagadnień monitorowania oddziaływań układu pojazd-tor w czasie eksploatacji. Oddziaływania te pochodzą od dynamiki pojazdu jak również od kinematycznych wymuszeń stanowiących efekt niedoskonałości toru. Praca zawiera opis badań eksperymentalnych na rzeczywistym obiekcie kolejowych, na podstawie których rozpatrywany jest wskaźnik określający jakość toru. W artykule przybliżono także monitorowanie z funkcją diagnozowania układu pojazd szynowy – tor. Zaprezentowano prototyp systemu monitorowania układu pojazd szynowy – tor. Zagadnienia rozpatrywane w artykule mają na celu rozpoznanie miejsc występowania zaburzeń na szlaku kolejowym oraz wskazania rodzaju tejże niedoskonałości infrastruktury. Wykorzystanie wskaźnika jakości toru po-winno prowadzić do określenia stanu toru, tj. globalnej oceny toru oraz wybranych jego parametrów. W artykule ograniczono się do omówienia wyników badań na doświadczalnym torze badawczym. W treści artykułu podano wstępne propozycje klasyfikacji stanu toru oparte na jakości oddziaływania pojazdu szynowego z torem oraz zaproponowano dalsze kierunki badań dotyczących tego zagadnienia.

Słowa kluczowe:

oddziaływanie dynamiczne pojazd-tor, wskaźnik jakości toru, stan toru

Afiliacje autorów:

Kostrzewski M.-other affiliation
Konowrocki R.-IPPT PAN
3p.
15.Pręgowska A., Konowrocki R., Szolc T., Analysis of rotating systems using actuators with magnetorheological fluid to vibration minimization – theoretical and experimental investigation, Symulacja w Badaniach i Rozwoju, ISSN: 2081-6154, Vol.5, No.3, pp.191-198, 2014

Streszczenie:

The analysis of damped rotating systems using actuators with magnetorheological fluid is the subject of interest. The main purpose of this research is minimization of vibration amplitudes in order to increase fatigue durability of the most responsible machine elements. Here, control damping torques are generated by magnetorheological fluid of adjustable viscosity.
The theoretical investigations are based on a hybrid and finite element structural model (FEM) of the mechanical structure as well as on sensitivity analysis of the response with respect to the actuators damping characteristics. The analysis performed in the paper combines experimental verification using the laboratory test rig with theoretical computations.

Słowa kluczowe:

rotating systems, torsional vibrations, actuators with a magnetorheological fluid, rotary actuators

Afiliacje autorów:

Pręgowska A.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
16.Pręgowska A., Konowrocki R., Szolc T., On the semi-active control method for torsional vibrations in electro-mechanical systems by means of rotary actuators with a magneto-rheological fluid, JOURNAL OF THEORETICAL AND APPLIED MECHANICS, ISSN: 1429-2955, Vol.51, No.4, pp.979-992, 2013

Streszczenie:

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

Słowa kluczowe:

semi-active control, torsional vibrations, magneto-rheological rotary dampers

Afiliacje autorów:

Pręgowska A.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
15p.
17.Konop J., Konowrocki R., On Evaluation of the Wheelsets-Track Interaction Quality in Railway Engineering, Machine Dynamics Research, ISSN: 2080-9948, Vol.37, No.4, pp.5-14, 2013

Streszczenie:

The paper is devoted to the evaluation of wheel-rail interaction quality and possibility of utilize of acceleration measurement for the determination of quality of tracks. After review of methods used for this purpose in Germany, Austria and other countries, the proposal used for experimental investigation by PESA S.A. will be reported and some theoretical analysis for the track quality evaluation will be given.

Słowa kluczowe:

railway wheel, railway track, monitoring, wheel-rail dynamics

Afiliacje autorów:

Konop J.-other affiliation
Konowrocki R.-IPPT PAN
6p.
18.Pręgowska A., Konowrocki R., Szolc T., Semi-active vibration control using a rotary magnetorheological damper – experimental verification, POMIARY - AUTOMATYKA - ROBOTYKA. PAR, ISSN: 1427-9126, Vol.2, pp.487-491, 2013

Streszczenie:

From all kinds of vibrations, torsional ones are very important as naturally associated with fundamental rotational drive system motion. The aim of this paper is to present semi-active control of torsional vibrations of the working machine drive systems, which is performed using a rotary damper with the magnetorheological fluid. The main purpose of this research is vibration amplitudes minimization in order to increase fatigue durability of the most responsible machine elements. The special control strategies are proposed for steady-state torsional vibrations suppression. The semi-active control method is based on a principle of determinational optimum current damping coefficient values, which is realized by the magneto-rheological fluid application. The analysis performed in the paper combines experimental verification using the laboratory test rig with theoretical computations. This experiment was designed in the form of the laboratory drive system co-operating with two asynchronous motors generating properly programmed driving and retarding electromagnetic torques.

Słowa kluczowe:

semi-active control, torsional vibrations, rotary dampers, magnetorheological fluid, electromechanical drive system

Afiliacje autorów:

Pręgowska A.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
4p.
19.Bogacz R., Konowrocki R., On new effects of wheel-rail interaction, ARCHIVE OF APPLIED MECHANICS, ISSN: 0939-1533, Vol.82, pp.1313-1323, 2012

Streszczenie:

The paper is devoted to the experimental, theoretical analysis and computer simulation of influence of elastic properties of contact stiffness and wheel-plate stiffness on the forces of vehicle-track interaction. Three types of wheels are considered with different contact stiffness and wheel-plate design. Exemplary simulation of freight car interaction with track which posses one corrugated rail for each type of wheel is presented.

Słowa kluczowe:

Contact stiffness, Rail corrugation, Elastic wheel, Wheel-rail interaction, Simulation

Afiliacje autorów:

Bogacz R.-other affiliation
Konowrocki R.-IPPT PAN
20p.
20.Michajłow M., Konowrocki R., Szolc T., Vibration control of the rotating machine geared drive system using linear actuators with the magneto-rheological fluid, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.25, pp.279-284, 2012

Streszczenie:

In this paper there is proposed a semi-active control technique based on the linear actuators with the magneto-rheological fluid (MRF) connecting the drive system planetary gear housing with the immovable rigid support. Here, control damping torques are generated by means of the magneto-rheological fluid of adjustable viscosity. Such actuators can effectively suppress amplitudes of severe transient and steady-state rotational fluctuations of the gear housing position and in this way they are able to minimize dangerous oscillations of dynamic torques transmitted by successive shaft segments in the entire drive system. The general purpose of the considerations is to control torsional vibrations of the real power-station coal-pulverizer geared drive system driven by means of the asynchronous motor. The investigations have been carried out using the experimental test rig based on the real object, where the measurement results were compared with analogous theoretical ones obtained by the use of computer simulations.

Słowa kluczowe:

torsional vibrations, magneto-rheological dampers, semi-active control

Afiliacje autorów:

Michajłow M.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
21.Pręgowska A., Konowrocki R., Szolc T., Experimental verification of the semi-active control concepts for torsional vibrations of the electro-mechanical system using rotary magneto-rheological actuators, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.25, pp.329-334, 2012

Streszczenie:

In the paper semi-active control of torsional vibrations of the rotating machine drive system driven by an electric motor is performed by means of rotary actuators with the magneto-rheological fluid. The main purpose of these studies is a minimisation of vibration amplitudes in order to increase the fatigue durability of the most responsible elements, assure possibly precise motion of the driven machine working tool as well as to reduce a generated noise level. For suppression of steady-state torsional vibrations excited by dynamic external torques generated by the motor and by the driven object there are proposed control strategies based on a principle of optimum current damping coefficient values realized by the magneto-rheological fluid. The theoretical control concepts are experimentally verified using the laboratory test rig in the form of drive system co-operating with two asynchronous motors generating properly programmed driving and retarding electromagnetic torques.

Słowa kluczowe:

semi-active control, torsional vibrations, rotary actuators, magneto-rheological fluid

Afiliacje autorów:

Pręgowska A.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
22.Konowrocki R., Bogacz R., Numerical analysis of vibration in a brake system for high speed train, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.25, pp.235-240, 2012

Streszczenie:

The paper is devoted to a computer simulation of brake pad/brake disc dynamic interaction. The main purpose of the studies is a numerical analysis of friction pair dynamics, aiming at describe generation of vibration related to the process of transition phenomena associated with braking. To investigation will be used environment of Automatic Dynamic Analysis of Mechanical Systems. In the analysis is used two-dimensional friction model. The results show the slip-stick and creep phenomenon

Słowa kluczowe:

vibrations excited by friction, self-excited of vibrations, slip-stick, creepage

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bogacz R.-other affiliation
23.Dyniewicz B., Pisarski D., Konowrocki R., Semi-active control of track subjected to an inertial moving load, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.25, pp.147-152, 2012

Streszczenie:

The paper deals with the problem of stabilization of vibrations of the load carrying structure via adaptive damping performed with a smart material. The properties of such a material must ensure reduction of vibrations, especially accelerations and displacements of selected stationary or follower points in a higher range than in the case of the material with homogeneous bilateral characteristics. Analytical calculations and numerical simulations proved the efficiency of the approach. Results obtained with the testing system equipped with magnetorheological controlled dampers will allow us to prove experimentally assumed control strategies and rheological properties of the filling material.

Słowa kluczowe:

control, moving inertial load, vibrations, smart materials

Afiliacje autorów:

Dyniewicz B.-IPPT PAN
Pisarski D.-IPPT PAN
Konowrocki R.-IPPT PAN
24.Konowrocki R., Bajer C.I., Vibrations of railroad due to the passage of the underground train, ARCHIVES OF TRANSPORT, ISSN: 0866-9546, Vol.22, No.1, pp.61-82, 2010

Streszczenie:

In the paper we present results of vibration measurements in the train and on the base of the railroad in tunnels of Warsaw Underground. Measurements were performed at straight and curved sections of the track. The paper is focused on the influence of the lateral slip in rail/wheel contact zone on the generation of vibrations and a noise. Vibrations were analyzed in terms of accelerations, velocities or displacements as a function of time and frequency. Results ware compared with the experiment of rolling of the wheel with lateral sleep. In both cases we observed double periodic oscillations.

Słowa kluczowe:

dynamic train-track interaction, ground borne vibrations, curved and straight track, rolling

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
6p.
25.Konowrocki R., Bajer C.I., Friction rolling with lateral slip in rail vehicles, JOURNAL OF THEORETICAL AND APPLIED MECHANICS, ISSN: 1429-2955, Vol.47, No.2, pp.275-293, 2009

Streszczenie:

The paper deals with the dynamic phenomena accompanying the wheel rolling over a road (rail, track), with lateral slip effects. They occur in rol-ling 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 de-tected 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 the-oretical system. In the case of steel/polyester and polyamide/polyester friction pair, qualitatively similar results were obtained.

Słowa kluczowe:

rolling, friction, lateral slip, wheel-rail interaction

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
9p.
26.Sekuła K., Konowrocki R., Dębowski T., Badania nowego typu systemu ważenia pojazdów drogowych w ruchu, DROGI I MOSTY, ISSN: 1643-1618, Vol.8, No.3, pp.69-88, 2009

Streszczenie:

W pracy zaprezentowano wstępną ocenę nowej metodologii stosowanej do identyfikacji obciążeń wywieranych przez przejeżdżające pojazdy na nawierzchnię drogi. Proponowane rozwiązanie opiera się na pomiarze lokalnych odkształceń powstałych na powierzchni detektora nacisku. Celem jest rozwój koncepcji oraz sprawdzenie nowego typu dynamicznej wagi drogowej oraz algorytmu rozwiązania zagadnienia odwrotnego. Przyjętą koncepcję wstępnie sprawdzono wykorzystując metodę elementów skończonych. Przeprowadzono też testy laboratoryjne proponowanego urządzenia. Uzyskano dzięki temu wstępne dane do kalibracji urządzenia. Ważnym zagadnieniem było sprawdzenie czynników wpływających na identyfikację obciążeń. Skuteczność rozwiązania sprawdzono w badaniach doświadczalnych wstępnej wersji urządzenia w warunkach drogowych.

Słowa kluczowe:

ważenie pojazdów w ruchu, identyfikacja obciążeń, czujniki piezoelektryczne, badania eksperymentalne

Afiliacje autorów:

Sekuła K.-IPPT PAN
Konowrocki R.-IPPT PAN
Dębowski T.-IPPT PAN
6p.
27.Konowrocki R., Analiza ruchu poprzecznego torowiska wywołanego przejazdem pojazdów szynowych na łuku i na odcinku prostym, DROGI I MOSTY, ISSN: 1643-1618, Vol.8, No.4, pp.43-69, 2009

Streszczenie:

W pracy podjęto tematykę dynamicznego oddziaływania pojazdów szynowych na tor, z uwzględnieniem zagadnienia drgań bocznych infrastruktury kolejowej wywoływanej przejazdem pojazdu szynowego. Na podstawie pomiarów zarejestrowanych w rzeczywistych obiektach kolejowych oraz na eksperymentalnym stanowisku laboratoryjnym wykazano istnienie drgań dwuokresowych w kierunku prostopadłym do płaszczyzny toczącego się koła. Zjawisko to nie było dotąd badane i przedstawiane w literaturze przez innych badaczy. Pojawia się ono m.in. przy obciążeniu bocznym pociągu oraz na łukach toru. Używając model numeryczny pojazdu szynowego, stworzony w programie Vi-Rail, wykorzystujący elementy wieloczłonowe (multibody system), uzyskano odpowiedź dynamiczną o charakterze zbliżonym jakościowo do zarejestrowanych w obiektach rzeczywistych i w laboratorium. Zaprezentowane w pracy wyniki oraz ich analiza mogą zainteresować badaczy zajmujących się transportem szynowym, kontaktem tocznym i zużyciem kół i szyn kolejowych.

Słowa kluczowe:

oddziaływanie pojazdu z torem, drgania torowiska, toczenie z poślizgiem bocznym, kontakt toczny

Afiliacje autorów:

Konowrocki R.-IPPT PAN
6p.
28.Konowrocki R., Bajer C.I., Vibrations due to the passage of a railway vehicle on straight and curved tracks, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.23, pp.199-204, 2008

Streszczenie:

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.

Słowa kluczowe:

railway vibrations, dynamic train-track interaction, ground borne vibrations, moving load

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
29.Konowrocki R., Bajer C.I., Oddziaływanie między nawierzchnią drogi i kołem w obecności poślizgu bocznego, ZESZYTY NAUKOWE INSTYTUTU POJAZDÓW / POLITECHNIKA WARSZAWSKA, ISSN: 1642-347X, Vol.1, No.64, pp.75-82, 2007

Streszczenie:

Praca dotyczy analizy dynamicznych zjawisk towarzyszących toczeniu koła po drodze (torze), przy jednoczesnym oddziaływaniu czynników wywołujących poślizg w kierunku prostopadłym do kierunku toczenia. Przypadki takie występują przy toczeniu się koła kolejowego po szynie na odcinkach prostych w przypadku oddziaływania wiatru oraz na łukach. Występowanie poślizgów bocznych przy jeździe na łukach spowodowane jest różnicą promieni krzywizny obu szyn i oscylacjami obrotowymi zestawu kołowego w płaszczyźnie toru. Na skutek ukośnego ustawienia płaszczyzn kół względem chwilowego kierunku toczenia dochodzi do bocznych poślizgów w strefie kontaktu koła z szyną. Oscylacje te mają niekorzystny wpływ zarówno na zużycie kół i szyn, jak i na otoczenie, ze względu na emisję hałasu. Otrzymane wyniki eksperymentalne pozwoliły na opracowanie modelu matematycznego zjawiska. Zaobserwowano dwuokresowy charakter drgań wywołany siłą boczną. Zbadano wpływ prędkości toczenia, siły nacisku oraz kąta między płaszczyzną toczącego koła a drogą na dwuokresowe drgania w kierunku osiowym koła.

Słowa kluczowe:

nawierzchnia, transport szynowy, poślizg boczny, kontakt koło-szyna

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
30.Konowrocki R., Wybrane zagadnienia falowe w kole ogumionym, ZESZYTY NAUKOWE INSTYTUTU POJAZDÓW / POLITECHNIKA WARSZAWSKA, ISSN: 1642-347X, Vol.2, No.65, pp.71-80, 2007

Streszczenie:

Ogumienie pojazdu samochodowego jest elementem, który znajduje się w bezpośrednim kontakcie z nawierzchnią drogi i przenosi obciążenie wynikające z wymuszenia kinematycznego pojazdu. Właściwości opony pojazdu samochodowego wpływają bezpośrednio na bezpieczeństwo czynne kierowcy oraz pasażerów. Stąd ogumienie ciągle stanowi przedmiot badań i prac rozwojowych. Skutkiem tych prac jest wprowadzanie nowych materiałów i technologii wytwarzania, które prowadzą do poprawienia właściwości jezdnych i eksploatacyjnych (zmniejszenia masy opony, zużycia i odkształceń). Ruch toczny koła wywołuje dyssypację energii związaną z tarciem poślizgowym w łożyskach, tłumienie postaciowe związane z uginaniem się opony oraz straty wentylacyjne.

Słowa kluczowe:

koło ogumione, poślizg, kontakt toczny, równie falowe

Afiliacje autorów:

Konowrocki R.-IPPT PAN
31.Konowrocki R., Bajer C.I., Investigation of the friction phenomenon in the wheel-road interaction, VIBRATIONS IN PHYSICAL SYSTEMS, ISSN: 0860-6897, Vol.15, pp.173-178, 2006

Streszczenie:

Rolling contact has been investigated intensively during last decade [1, 2]. However, generation of corrugations, the fundamental problem of rolling in railway transportation, is still not completely explained. In the paper we consider dynamic phenomenon, which occur in rolling of the wheel over the rail, with lateral slip. Such cases are involved by wind blows (both on curved and straight tracks), deformation of wheels, wheelsets and rails, different linear velocity of wheels on curves and rotatory oscillations of wheelsets.
Skew wheel plane related to the direction of rolling results in lateral slip in rail/wheel contact zone. The rail/wheel system oscillates and generates noise. In the same time the wear increases considerable and negatively influences the safety of transportation. Corrugations are visible results of this oscillatory wear (Fig. 1). However, the phenomenon can be observed also in rolling of a tire over the road and the contact of rolls with guide. In all cases friction is the main reason of the described phenomenon. The friction law influences it qualitatively and qualitatively.

Słowa kluczowe:

Experimental investigations,

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
32.Pręgowska A., Konowrocki R., Szolc T., Optimal segmentation of beam and disk structures, Structural optimization, ISSN: 0934-4373, DOI: 10.1007/BF01197041, Vol.11, No.3, pp.252-259, 1996

Streszczenie:

Large structures are usually composed of elements by properly designed connections. The optimal design solution in such cases should provide optimal size and number of elements together with optimal connection stiffness. The problem is formulated by assuming the element cost to be a nonlinear function of its size and the cost of connection to depend on its stiffness or transmitted forces. The number of elements and the connection stiffness now constitute the design parameters to be determined. A two-level procedure is proposed for determination of the optimal segmentation for beam and plate structures. Several illustrative examples are presented.

Afiliacje autorów:

Pręgowska A.-IPPT PAN
Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN

Lista rozdziałów w ostatnich monografiach
1.
438
Pręgowska A., Szolc T., Pochanke A., Konowrocki R., Recent Advances in Automation, Robotics and Measuring Techniques, rozdział: Modeling and dynamic analysis of the precise electromechanical systems driven by the stepping motors, Springer International Publishing, Series: Advances in Intelligent Systems and Computing, 267, Part I, pp.205-215, 2014
2.
336
Konowrocki R., Bogacz R., Kukulski J., Walczak S., Selected Dynamical Problems in Mechanical Systems, rozdział: Experimental and Numerical Investigation of Oscillations in a Brake System, Oficyna Wydawnicza Politechniki Warszawskiej, pp.75-84, 2014
3.
236
Konowrocki R., Bogacz R., Bajer C.I., Symulacja w Badaniach i Rozwoju, rozdział: Badanie oddziaływania koła z drogą z uwzględnieniem poślizgów bocznych, PTSK, PW, IPPT, Warszawa, pp.124-131, 2006

Prace konferencyjne
1.Szolc T., Konowrocki R., Pochanke A., Michajłow M., Dynamic aspects of design and maintenance of the rotating machinery applied by the mining industry , MEC-2017, MINERAL ENGINEERING CONFERENCE, 2017-09-20/09-23, Wisła (PL), DOI: 10.1051/e3sconf/201712301010, No.18, 01010, pp.1-10, 2017

Streszczenie:

In the paper a dynamic behaviour of the selected typical group of rotating machines applied in the mining industry is investigated. These are the beater mills and crushers as well as blowers and compressors, all driven by the asynchronous motors. In particular, there is considered an influence of various types of machine working tool loadings on the system lateral steady-state dynamic responses as well as a mutual torsional electromechanical interaction between the driving motor and the driven machine in transient operational conditions. The theoretical calculations have been performed by means of the advanced structural mechanical models. The conclusions drawn from computational results can be very useful during design phase of these devices as well as helpful for their users during regular maintenance.

Słowa kluczowe:

mining industry, electromechanic coupling, design and maintenance of mill, torsional vibrations

Afiliacje autorów:

Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
Pochanke A.-other affiliation
Michajłow M.-IPPT PAN
2.Bogacz R., Konowrocki R., Influence of track defects on railway vehicle damage - O wpływie usterek toru na uszkodzenia pojazdów szynowych, SITK207, Nowoczesne technologie i systemy zarządzania w transporcie szynowym. Część I: DROGA KOLEJOWA., 2017-11-29/12-02, Zakopane Hotel Mercure KASPROWY ZAKOPANE (PL), pp.21-28, 2017

Streszczenie:

The paper contain description of certain dynamical problems connected with the kinematic excitation of railway track. Some phenomena are given which may create high loads, track degradation and fatigue of wheelset axles. An alternative approach to measurement rail vehicle overload are given. Some examples of experimental investigations are given which pointed out that the dynamical load acting on the track can be a few times higher as the static load. In the paper the results obtained from the electromechanical drive model describing the torsion vibration of wheelset caused by passing through gaps in a single rail of track are presented.

Słowa kluczowe:

wheel-rail dynamics, vehicle-track interaction, track and vehicle degradation

Afiliacje autorów:

Bogacz R.-IPPT PAN
Konowrocki R.-IPPT PAN
3.Szolc T., Konowrocki R., Michajłow M., On Research and development-aspects of the highly-energetic concept for the copper ore comminution, ICNOP 2015, XI Międzynarodowa Konferencja Przeróbki Rud Metali Nieżelaznych, 2015-05-27/05-29, Trzebieszowice (PL), pp.47-59, 2015

Streszczenie:

In the paper there will be presented fundamental advantages and problems connected with an application possibility of the highly-energetic, impact-type technique of the copper ore comminution in a comparison with the analogous methods used till present by the ore pro-cessing plants belonging to the company KGI-IM — Polska Miedt S.A. In this aspect the main technical and exploitation requirements expected from the high-speed beater mills for impact-type copper ore comminution in a dry mode shall be considered. In particular, there will be discussed dynamic phenomena associated with an operation of such devices as well as modern computational methods enabling us an expectation of their positive and negative consequences for an operational effectiveness, durability and robustness of the most respon-sible working elements. The mechanical vibrations can be regarded here as one of the most detrimental phenomenon caused by the highly dynamic interaction between the beater-wheel and the comminuted ore. First of all, these are bending and torsional vibrations of the beater.

Słowa kluczowe:

copper ore highly-energetic comminution, beater mill, dynamic analysis

Afiliacje autorów:

Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
Michajłow M.-IPPT PAN
4.Konowrocki R., Pochanke A., Pręgowska A., Szolc T., An analysis of precise positioning scenarios of the electromechanical rotating system driven by a stepping motor, SIRM 2015, 11th International Conference on Vibrations in Rotating Machines, 2015-02-23/02-25, Magdeburg (DE), No.ID-40, pp.1-10, 2015

Streszczenie:

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.

Słowa kluczowe:

Belt transporter system, Precise positioning, Stepping motor, Current control, Experimental verification

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Pochanke A.-other affiliation
Pręgowska A.-IPPT PAN
Szolc T.-IPPT PAN
5.Szolc T., Konowrocki R., Michajłow M., On electromechanical dynamic coupling effects in the semi-actively controlled rotating machine drive system driven by the induction motor, SIRM 2013, 10th International Conference on Vibrations in Rotating Machines, 2013-02-25/02-27, Berlin (DE), No.ID-258, pp.1-10, 2013

Streszczenie:

In the paper there is studied dynamic electromechanical interaction between the geared drive system of a rotating machine and the driving induction (asynchronous) motor. The investigations are performed by the use of experimental measurements carried out on the real object as well as by means of a theoretical approach using a circuit model of the electric motor in the form of Park’s equations and the advanced drive system hybrid, i.e. discrete-continuous, mechanical model of an identical structure and parameters as the classical preliminarily applied one-dimensional finite element model. The experimental and theoretical considerations are focused on the steady-state operating conditions, where severe torsional vibrations are excited by variable components of the driven machine retarding torque as well as by the electromagnetic torque generated by the induction motor. The qualitative analysis is performed by means of the harmonic balance method applied for Park’s equations and using the modal approach for the experimentally identified mechanical model. In order to minimize torsional vibration amplitudes induced by the electromechanical interaction in the considered system, the semi-active control technique based on actuators with the magneto-rheological fluid has been tested.

Słowa kluczowe:

electromechanical dynamic coupling, electric motor, torsional vibrations, experimental investigation

Afiliacje autorów:

Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
Michajłow M.-IPPT PAN
6.Dyniewicz B., Pisarski D., Konowrocki R., Semi-active control of track subjected to an inertial moving load, XXV Symposium Vibrations in Physical Systems, 2012-05-15/05-19, Poznań-Będlewo (PL), pp.1-6, 2012

Streszczenie:

The paper deals with the problem of stabilization of vibrations of the load carrying structure via adaptive damping performed with a smart material. The properties of such a material must ensure reduction of vibrations, especially accelerations and displacements of selected stationary or follower points in a higher range than in the case of the material with homogeneous bilateral characteristics. Analytical calculations and numerical simulations proved the efficiency of the approach. Results obtained with the testing system equipped with magnetorheological controlled dampers will allow us to prove experimentally assumed control strategies and rheological properties of the filling material.

Słowa kluczowe:

control, moving inertial load, vibrations, smart materials

Afiliacje autorów:

Dyniewicz B.-IPPT PAN
Pisarski D.-IPPT PAN
Konowrocki R.-IPPT PAN
7.Konowrocki R., Bajer C.I., Bogacz R., Badania eksperymentalne współpracy koła z drogą z uwzględnieniem poślizgów bocznych, XIV Warsztaty Polskiego Towarzystwa Symulacji Komputerowej, 2007-09-26/09-29, Zakopane (PL), Vol.14, pp.158-171, 2008

Streszczenie:

Praca opisuje zagadnienia dynamicznego oddziaływania podziemnego pojazdu szynowego na tor. Oddziaływanie to wywołuje drgania, które za pośrednictwem konstrukcji toru, tunelu oraz gruntu propagowane są na pobliskie konstrukcję i budynki. Ze względu na zagęszczenie ruchu ulicznego podziemna komunikacja jest obecnie jedyną alternatywą płynnego przemieszczania się osób w wielkich aglomeracjach miejskich. Sprzyja to rozwojowi i modernizacji podziemnej kolei miejskiej, w której jako jednym z celów stawianych projektantom jest minimalizacja powstania drgań propagujących się na otaczające środowisko W nauce również można zaobserwować wzrost zainteresowania zjawiskami powstawania i propagacji drgań w gruncie, wywołanych przejazdem pojazdów kolei podziemnej. Głównym pytaniem nurtującym badaczy jest kwestia kontroli układu pojazd/tor i zmniejszenie powstających szkodliwych wibracji i hałasu. Ze względu na wielorakie rozwiązana konstrukcyjne pojazdów i torowisk kolei podziemnej trudno jest zaproponować jednoznaczne rozwiązanie.

Słowa kluczowe:

metro, oddziaływania podziemnego pojazdu szynowego, wibroizolacja, grunt

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
Bogacz R.-IPPT PAN
8.Konowrocki R., Bajer C.I., Drgania boczne w układzie koło szyna wywołane przejazdem kolei podziemnej na łuku i na prostej, XVIII Konferencja Naukowa „Pojazdy Szynowe”, 2008-09-17/09-19, Ustroń (PL), Vol.Tom I, pp.352-368, 2008

Streszczenie:

Zagadnienia dynamicznego oddziaływania pojazdu metra na tor są analizowane w pracy. Oddziaływanie to wywołuje drgania, które za pośrednictwem konstrukcji toru, tunelu oraz gruntu propagowane są na pobliskie konstrukcję i budynki. Ze względu na zagęszczenie ruchu ulicznego podziemna komunikacja jest obecnie jedyną alternatywą płynnego przemieszczania się osób w wielkich aglomeracjach miejskich. Sprzyja to rozwojowi i modernizacji podziemnej kolei miejskiej, w której jako jednym z celów stawianych projektantom jest minimalizacja powstania drgań propagujących się na otaczające środowisko W nauce również można zaobserwować wzrost zainteresowania zjawiskami powstawania i propagacji drgań w gruncie, wywołanych przejazdem pojazdów kolei podziemnej. Ze względu na wielorakie rozwiązana konstrukcyjne pojazdów i torowisk kolei podziemnej trudno jest zaproponować jednoznaczne rozwiązanie. Głównym pytaniem nurtującym badaczy jest kwestia kontroli układu pojazd/tor i zmniejszenie powstających szkodliwych wibracji i hałasu.

Słowa kluczowe:

Metro Warszawskie, tunel metra, kolej podziemna, badania eksperymentalne

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
9.Konowrocki R., Bajer C.I., Oddziaływanie koła z drogą z uwzględnieniem wpływu sił bocznych, XVII Konferencja Naukowa „Pojazdy Szynowe”, 2006-09-13/09-15, Kazimierz Dolny (PL), pp.397-403, 2006

Streszczenie:

Analizy dynamicznych zjawisk towarzyszących toczeniu koła po drodze (torze), przy jednoczesnym oddziaływaniu czynników wywołujących poślizg w kierunku prostopadłym do kierunku toczenia są analizowane w artykule. Przypadki takie występują przy toczeniu się koła kolejowego po szynie na odcinkach prostych w przypadku oddziaływania wiatru oraz na łukach. Występowanie poślizgów bocznych przy jeździe na łukach spowodowane jest różnicą promieni krzywizny obu szyn i oscylacjami obrotowymi zestawu kołowego w płaszczyźnie toru. Na skutek ukośnego ustawienia płaszczyzn kół względem chwilowego kierunku toczenia dochodzi do bocznych poślizgów w strefie kontaktu koła z szyną. Oscylacje te mają niekorzystny wpływ zarówno na zużycie kół i szyn, jak i na otoczenie, ze względu na emisję hałasu. Otrzymane wyniki eksperymentalne pozwoliły na opracowanie modelu matematycznego zjawiska. Zaobserwowano dwuokresowy charakter drgań wywołany siłą boczną.

Słowa kluczowe:

dwuokresowy charakter drgań, kontakt koło-szyna,numeryczne badania

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN

Abstrakty konferencyjne
1.Konowrocki R., Dąbrowski A., Wantoch-Rekowski R., Brona P., Modelling of special train dynamic for construction simulator to train drivers training , ART 2017, 6th International Scientific Conference - ADVANCED RAIL TECHNOLOGIES - , 2017-11-15/11-16, Conference venue: Hotel Boss, Żwanowiecka 20, Warsaw. (PL), pp.10-11, 2017

Streszczenie:

Due to the fact that training simulators of railway vehicles must fulfill unique requirements resulting from the specific properties of the simulated vehicles, in this article on determining the main criteria for modeling the dynamics of such systems was presented. A methodology used in the study on the selection of parameters of the modeled vehicle and its driveline based on experimental studies was described. Adaptation of parameters obtained from the experimentally test into the dynamics model of vehicle was presented. Currently used solutions in simulators as well as issues related to animation and presentation of the image was provided. The requirements for the operation of the rail vehicle simulator, as well the design requirements for visualization of the image were defined and discussed

Słowa kluczowe:

railway vehicle simulator, railway vehicle drive system, virtual environment VBS3

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Dąbrowski A.-Railway Research Institute (PL)
Wantoch-Rekowski R.-Military University of Technology (PL)
Brona P.-Railway Research Institute (PL)
2.Konowrocki R., Kukulski J., Groll W., Walczak S., Investigation of material property changes of discs during braking on hot spots and hot bands generation , ART 2017, 6th International Scientific Conference - ADVANCED RAIL TECHNOLOGIES - , 2017-11-15/11-16, Conference venue: Hotel Boss, Żwanowiecka 20, Warsaw. (PL), pp.48-49, 2017

Streszczenie:

A braking systems during friction interaction convert mechanical energy into heat energy. The corresponding heating is a major design parameter as it influences the tribological and mechanical performances (wear of the materials, friction performances, risks of cracks, vibrations, etc.). During breaking process in such breaking systems, different locations of thermal overheating areas of material of friction pair may occur, usually named as hot spots or hot bands. These spot and bands are characterized by very high temperature gradients. This brake systems exposed to thermoelastic instabilities show a characteristic temperature distribution on break disc surface that can lead to local material change. The interaction of thermal energy and thermal expansion of the material of the friction braking effect on the local increase in temperature leading to a dominant impact frictional forces in this area. Often destabilization of the braking process is a consequence of such a rise in temperature. The difficulty of understanding and modeling all of these phenomena still remains due to the complex interactions of thermal, mechanical, and tribological effects. Experimental investigation is still nowadays a major instrument for detecting and understanding the physical effects. In this presentation, we propose to consider an example

Słowa kluczowe:

braking system, hot spots, hot bands, braking tests, infrared testing

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Kukulski J.-Railway Research Institute (PL)
Groll W.-Railway Research Institute (PL)
Walczak S.-Railway Research Institute (PL)
3.Konowrocki R., Stability analysis of the railway vehicle drive with electromechanical coupling effects , ART 2017, 6th International Scientific Conference - ADVANCED RAIL TECHNOLOGIES - , 2017-11-15/11-16, Conference venue: Hotel Boss, Żwanowiecka 20, Warsaw. (PL), pp.22-23, 2017

Streszczenie:

Aiming at the torsional vibration in the electromechanical driveline system for railway trains, this article introduces a stability analysis of the drive system with electromechanically coupling. For a reliability and security of drive system of railway vehicles drive by electric motors, the electromagnetic output traction force and torques should drive stably, otherwise the shaft train vibration caused by motor torque ripple will affect the fatigue life of the device and the operation security of the driven object. For this reason an investigation of the dynamic response and stability of a electromechanical drive train system was done. For this purpose a dynamic model integrated with an electric motor to simulate the vibration in the component parts of the drive system were created. Such an approach for modelling of the considered electrical drive systems coupled with elements of a driven vehicle is particularly important when the purpose of such modelling is to obtain an information about the transient phenomena of system operation

Słowa kluczowe:

electromechanical coupling, electric drive, electric motor, torsion vibrations, railway drive

Afiliacje autorów:

Konowrocki R.-IPPT PAN
4.Wasilewski M., Pisarski D., Konowrocki R., Bajer C.I., New efficient adaptive control of torsional vibrations induced by sudden nonlinear disturbances, CMM-2017, 22nd International Conference on Computer Methods in Mechanics, 2017-09-13/09-16, Lublin (PL), pp.1-2, 2017

Streszczenie:

The aim of this paper is to present a novel adaptive technique of control of the vibrating drilling systems. The algorithm constitutes an adaptive linear quadratic regulator that uses direct measurements of the disturbance to synthesize its linear dynamic approximation. This approach allows generating control law that includes the impact of the friction on the system dynamics and optimally steers the system to the desired trajectory. The effectiveness of the algorithm is validated via comprehensive numerical simulations of the control of the simplified drilling model. The results are compared to these obtained with the use of the Linear Quadratic Gaussian regulator.

Słowa kluczowe:

vibration control, drillstring, adaptive control, auto-regressive model

Afiliacje autorów:

Wasilewski M.-IPPT PAN
Pisarski D.-IPPT PAN
Konowrocki R.-IPPT PAN
Bajer C.I.-IPPT PAN
5.Konowrocki R., An Electricity Consumption of a Train Drive System Used in a High Speed Train Caused by Change of Mechanical Parameters of this Drive, III Konferencja Naukowa „Szkoła Logistyki”, 2017-01-10/01-13, Wisła (PL), pp.1, 2017

Streszczenie:

The cost of maintenance, the reliability and the safety of railway operation depend strongly on the quality of the wheelsets and driving systems. Deformations and mechanical vibrations are phenomena associated with a functioning of majority of railway vehicle drivetrain structures. The time dependent variation of the contact forces between the wheels and the rails is highest importance, as sources of a torsion vibration in the systems. The knowledge about torsional vibrations in drive transmission systems of railway vehicles is of a great importance in the fields dynamics and fatigue of the mechanical systems. An electromechanical model of the railway vehicle drive system has been presented in the work. The values of electrical parameter characterizing the driving motor obtained from electric motor model have been used for determine the amounts of electric energy consumed by self-excited torsional vibration in the wheelset drivetrain system.

Słowa kluczowe:

electric motor, cost of maintenance, electromechanical model, torsion vibration

Afiliacje autorów:

Konowrocki R.-IPPT PAN
6.Konowrocki R., Kukulski J., Walczak S., Costs Operating of Railway Braking Systems Due to the Influence of Hot Spots on the Brake Discs, III Konferencja Naukowa „Szkoła Logistyki”, 2017-01-10/01-13, Wisła (PL), pp.1, 2017

Streszczenie:

In the paper presents experimental studies the influence of the formation of the hot spots on a brake disc. The heat produced in the brake system often leads to the appearance of hot spots on the surfaces of friction pairs during rapid braking. Nature and extent of the intensity of the phenomenon depends greatly on the mechanical and thermal properties of these friction pair materials. The temperature distribution in the elements analyzed systems friction affects their thermal deformation, initiating the above phenomenon. Shown in the work of the results of tests and analyzes the formation of the hot bands and the hot spots on the brake discs used in high-speed railway vehicles, provided information on the temperature distribution on the surface.
One of the consequences of such a process is the increased wear and reduce the coefficient of friction. Measurements of the hardness of the hot bands and surface roughness of brake discs showed the effects of such phenomena on the change on the structure of the cast iron and steel discs materials. An increase the hardness of this hot area on the discs surface of may result in increased maintenance costs. The costs caused by for a more frequent lathing of the brake discs can occur. These changes also influences to reduce the coefficient of friction in the friction pair.

Słowa kluczowe:

hotspot, maintenance costs, friction, infrared thermography, thermal coupling

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Kukulski J.-Railway Research Institute (PL)
Walczak S.-Railway Research Institute (PL)
7.Szolc T., Konowrocki R., Pochanke A., Michajłow M., Dynamic aspects of design and maintenance of the rotating machinery applied in the mining industry, MEC-2017, MINERAL ENGINEERING CONFERENCE, 2017-09-20/09-23, Wisła (PL), No.2, pp.14-15, 2017

Streszczenie:

In the paper a dynamic behaviour of the selected typical group of rotating machines applied in the mining industry is investigated. These are the beater mills and crushers as well as blowers and compressors, all driven by the asynchronous motors. In particular, there is considered an influence of various types of machine working tool loadings on the system lateral steady-state dynamic responses as well as a mutual torsional electromechanical interaction between the driving motor and the driven machine in transient operational conditions. The theoretical calculations have been performed by means of the advanced structural mechanical models. The conclusions drawn from computational results can be very useful during design phase of these devices as well as helpful for their users during regular maintenance.

Słowa kluczowe:

rotating mill machinery, electric motor interaction, electromechanical model, torsion vibration

Afiliacje autorów:

Szolc T.-IPPT PAN
Konowrocki R.-IPPT PAN
Pochanke A.-other affiliation
Michajłow M.-IPPT PAN
8.Szmidt T., Konowrocki R., Flutter vibrations of pipe conveying air damped by electromagnetic devices of motional type, PTSK, 24th PTSK Scientific Workshop International Conference Simulation in Research and Development, 2017-05-24/05-27, Krynica (PL), pp.1-2, 2017

Streszczenie:

The analysis of stability the pipe with electromagnetic coupling in active elements has been done. Application of electromagnetic actuators leads to an increase in the critical flow velocity.The frequency of self-excited vibrations can either change with the volt-age supplied depending on the position of the active elements.

Słowa kluczowe:

Flutter vibrations, electromagnetic coupling, electromagnetic actuators, EM damper of motional type

Afiliacje autorów:

Szmidt T.-IPPT PAN
Konowrocki R.-IPPT PAN
9.Konowrocki R., An influence of electromechanical coupling effects on stability of the drive systems of HST driven by electric motors, PTSK, 24th PTSK Scientific Workshop International Conference Simulation in Research and Development, 2017-05-24/05-27, Krynica (PL), pp.15-16, 2017

Streszczenie:

The analysis of stability the High Speed Train traction drive with electromechanical coupling has been done. Using the energy balance of the natural modes of vibration for the model of the drive system leads to determining the influence of electromagnetic parameters on its stability in relation to self-excited vibrations induced by friction.

Słowa kluczowe:

electromechanical coupling, high speed train, stability analizys, synchronous motor

Afiliacje autorów:

Konowrocki R.-IPPT PAN
10.Konowrocki R., Szolc T., An influence of electromechanical coupling effects on stability of the drive systems of machines and railway vehicles driven by electric motors, XXV French-Polish Seminar on Mechanics, 2017-05-15/05-16, Bourges (FR), pp.32-32, 2017

Streszczenie:

To ensure a reliability and unconditional security of drive system of machine and railway vehicles drive by electric motors, the electromagnetic output traction force and torques should drive stably, otherwise the shaft train vibration caused by motor torque ripple will affect the fatigue life of the device and the operation security of the driven object. For this reason an investigation of the dynamic response and stability of a electromechanical drive train system was done. The obtained results have demonstrated that the electromagnetic transient processes generated in the electric motor should be taken into account for the use of the assessing the stability of the system.
The knowledge about stability of drive transmission systems of machines and railway vehicles is of a great importance in the field of dynamics and material fatigue of the mechanical systems.

Słowa kluczowe:

electric motor, torsional vibrations, electromechanical coupling, wheel-rail adhesion, wheelset drivetrain dynamic

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Szolc T.-IPPT PAN
11.Konowrocki R., Analysis of electromechanical interaction in an electric drive system used in the high speed trains, ART Conference 2016, ADVANCED RAIL TECHNOLOGIES - 5th International Conference, 2016-11-09/11-11, Warsaw (PL), pp.1-2, 2016

Streszczenie:

A dynamic modelling of the electrical drive systems coupled with elements of a driven machine or vehicle is particularly important when the purpose of such modelling is to obtain an information about the transient phenomena of system operation, like a run-up, run-down and loss of adhesion in the wheel-rail zone. In this paper most attention is paid to the modelling of an electromechanical interaction between the electric driving motor and the railway wheelset. The knowledge about torsional vibrations in transmission systems of a high speed train (HST) is of a great importance in the fields dynamics of mechanical systems. Torsional vibrations in the railway vehicle drive train are generated by two main phenomena. To the first one belongs the electromechanical interaction between of the railway drive system including the: electric motor, gears, the driven part of disc clutch and driving parts of the gear clutch. To the second one belong torsional vibrations of the flexible wheels and wheelsets caused by variation of adhesion forces in the wheel-rail contact zone.

Słowa kluczowe:

high speed train drive, electromechanical coupling, wheel-rail adhesion, asynchronous motor, electric motor

Afiliacje autorów:

Konowrocki R.-IPPT PAN
12.Konowrocki R., Groll W., Kukulski J., Walczak S., Temperature field analysis of brake discs for high speed train using infrared technology, ART Conference 2016, ADVANCED RAIL TECHNOLOGIES - 5th International Conference, 2016-11-09/11-11, Warsaw (PL), pp.1-2, 2016

Streszczenie:

Thermoelastic instabilities are typically observed in frictional systems, which transform large quantity of kinetic energy into thermal energy. To this group we can include a high speed train brake system. This brake systems exposed to thermoelastic instabilities show a characteristic temperature distribution on break disc surface that can lead to local material change, vibrations of the braking system element coefficient of friction fluctuations. When reaching a critical sliding velocity, experiments show a nonhomogeneous and often periodic temperature distribution on the sliding surface. The mechanism of the phenomenon is caused by the interaction of heat generation and thermal expansion. A local rise in surface temperature results in a thermal expansion of the material nearby. Such a region of elevated temperature therefore is slightly higher than the surrounding topography and therefore carries a dominating part of the frictional load. A following rise in heat can destabilize the process. Two basic forms of thermoelastic instabilities can be commonly observed such as hot spots and hot bands.

Słowa kluczowe:

high speed train braking, infrared technology, hot spotting, hot banding, brake disc, heat transfer

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Groll W.-Railway Research Institute (PL)
Kukulski J.-Railway Research Institute (PL)
Walczak S.-Railway Research Institute (PL)
13.Konowrocki R., Kukulski J., Hot bands on a surface of brake discs used in the high speed trains- experimental investigation, FRICTION 2016”, IX International Conference Modeling And Simulation of The Friction Phenomena in the Physical and Technical Systems „FRICTION 2016”, 2016-10-18/10-18, Warsaw (PL), pp.1, 2016

Streszczenie:

The heat produced between friction couple during braking induces thermal distortion in the disc and leads to appearance of hot bands. The Hot bands are generated by thermoelastic phenomena appearing in systems with high energy dissipation like brake or clutch systems. Systems exposed to thermoelastic instabilities show a characteristic temperature distribution that can lead to local material change, vibrations of the braking system element or coefficient of friction fluctuations. In the framework of studies there are presented results of experimental investigation on influence of the hot bands on properties of friction pair elements and parameters of the high-speed train brake system.

Słowa kluczowe:

heat produced, friction coupling, breaking, hot bands, thermoelastic phenomena, friction fluctuations

Afiliacje autorów:

Konowrocki R.-IPPT PAN
Kukulski J.-Railway Research Institute (PL)
14.Szmidt T., Konowrocki R., Influence of Electromagnetic Actuators on Near-Critical Behaviour of a Pipe Conveying Fluid, XXIV Francusko-Polskie Seminarium Mechaniki, 2016-10-17/10-18, Warszawa (PL), pp.57, 2016
15.Konowrocki R., Evaluation of electromechanical coupling parameters of the railway vehicle electric drive system to condition monitoring of the drive, XXIV Francusko-Polskie Seminarium Mechaniki, 2016-10-17/10-18, Warszawa (PL), pp.1-2, 2016

Streszczenie:

In the framework of studies there are presented results of numerical investigation of the electromechanical drive system of the railway vehicle. Here, electric parameters of the asynchronous motor are rated to condition monitoring of the drive. Evaluation of the parameters can be used to create guidelines to a monitoring system. Main informations about a torsional vibration of wheelsets generated by friction coefficient in wheel-rail zone are provided by electric parameters obtained from a dynamic electromechanical drive model. The vibrations of wheelsets generated by a self-excited vibration mechanism of wheel-rail contact systems is very harmful. Proposed approach is alternative solution for monitoring of the torsion vibration in considered driving system. Results of this analysis can be used in order to investigate the drive system’s sensitivity to torsional oscillations.

Słowa kluczowe:

condition monitoring, electromechanical coupling, wheel-rail adhesion, wheelset drivetrain dynamic

Afiliacje autorów:

Konowrocki R.-IPPT PAN
16.Frąś L.J., Konowrocki R., Pęcherski R.B., Niesprężyste deformacje materiałów magnetoreologicznych. Doświadczalna wizualizacja i model fizyczny, OMIS'2015, XI Konferencja Odkształcalność Metali i Stopów, 2015-11-17/11-20, Łańcut (PL), pp.13-14, 2015

Streszczenie:

Magnetorheological materials are commonly used in technical devices because of specific behaviour in magnetic field. The magnetoactive particles are immersed in the carried fluid. The material becomes solid under the influence of magnetic field. The structure of solid material consists of the chains of the particles lying along the direction of magnetic field and the material under the stress is deforming as a solid body. The present studies are focused on the microscopic and phenomenological models of non-newtonian fluid. However, the mechanisms of deformation in solidified material under magnetic field require further investigations. The aim of the paper is to present the experimental visualization of the rearrangements of the particles in the activated by magnetic field chains. Basing on microscopic observations, the hypothesis is formulated that the mechanism of micro-shear banding is responsible for inelastic deformation of magnetorheological material. The discussed physical model makes the basis of the material description within the framework of the Perzyna viscoplasticity theory.

Słowa kluczowe:

magnetorheological fluid, magnetorheological gel, Perzyna viscoplastic model

Afiliacje autorów:

Frąś L.J.-IPPT PAN
Konowrocki R.-IPPT PAN
Pęcherski R.B.-IPPT PAN