Identificación experimental de la fricción en las transmisiones accionadas por cable

dc.contributorGómez-Mendoza, Juan Bernardo
dc.contributorComputación Aplicada Suave y Dura (Shac)
dc.creatorTORRES CHARRY, GIOVANNI
dc.date.accessioned2022-02-15T14:06:31Z
dc.date.accessioned2022-09-21T19:38:00Z
dc.date.available2022-02-15T14:06:31Z
dc.date.available2022-09-21T19:38:00Z
dc.date.created2022-02-15T14:06:31Z
dc.date.issued2022
dc.identifierhttps://repositorio.unal.edu.co/handle/unal/80984
dc.identifierUniversidad Nacional de Colombia
dc.identifierRepositorio Institucional Universidad Nacional de Colombia
dc.identifierhttps://repositorio.unal.edu.co/
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/3417413
dc.description.abstractEn esta tesis se propone un modelo de fricción empírico para transmisiones tipo polea-cable que incluye en su formulación, además de la velocidad, el efecto de la carga externa y la relación de transmisión. Los experimentos para determinar el comportamiento de la fricción se desarrollaron en un banco de pruebas diseñado y construido como parte del proyecto. El banco de pruebas desarrollado permite el cambio de los elementos de la transmisión y la aplicación de carga externa; de esta manera es posible evaluar el comportamiento de la fricción en la transmisión para diferentes valores de velocidad, tipo de enhebre del cable, dimensiones de las poleas y carga externa. Los resultados experimentales obtenidos evidencian la influencia de la carga en el comportamiento de la fricción, se presume que este comportamiento está gobernado principalmente por la fricción en los rodamientos. Como una primera aproximación para la representación de la fricción en la transmisión se utiliza el modelo LuGre, se encuentra que este modelo no representa adecuadamente el comportamiento de la fricción cuando se aplican cargas externas por lo que se propone un nuevo modelo de fricción; este modelo incluye en su formulación el efecto de la carga externa y de la relación de transmisión. Los resultados obtenidos en la validación del modelo propuesto muestran mejores resultados que los obtenidos con el modelo LuGre. Para velocidades inferiores a 30 rad/s y cargas altas, el porcentaje de error de la identificación con el modelo propuesto llega ser hasta cuatro veces inferior al obtenido utilizando el modelo LuGre. Las principales contribuciones de este trabajo son, el desarrollo de un banco de pruebas adaptable, el establecimiento de una linea base para el comportamiento de la fricción en transmisiones tipo polea-cable y la propuesta de un modelo empírico de fricción para este tipo de transmisiones.
dc.description.abstractThis thesis proposes an empirical friction model for cable-pulley type transmissions that includes in its formulation, in addition to speed, the effect of external load and transmission ratio. The experiments to determine the friction behavior were carried out on a test bench designed and built as part of the project. The developed test bench allows the change of the transmission elements and the application of external load; in this way, it is possible to evaluate the friction behavior in the transmission for different speed values, types of cable thread, pulley dimensions, and external load. The experimental results obtained show the influence of the load on the friction behavior, it is presumed that this behavior is governed mainly by the friction in the bearings. As a first approximation for the representation of friction in the transmission, the LuGre model is used. It is found that this model does not adequately represent the behavior of friction when external loads are applied, therefore a new friction model is proposed; this model includes in its formulation the effect of the external load and the transmission ratio. The results obtained in the validation of the proposed model show better results than those obtained with the LuGre model. For speeds lower than 30 rad/s and high loads, the percentage of identification error with the proposed model is up to four times lower than that obtained using the LuGre model. The main contributions of this work are the development of an adaptable test bench, the establishment of a baseline for the behavior of friction in cable-pulley type transmissions, and the proposal of an empirical friction model for this type of transmission.
dc.languagespa
dc.publisherUniversidad Nacional de Colombia
dc.publisherManizales - Ingeniería y Arquitectura - Doctorado en Ingeniería - Automática
dc.publisherDepartamento de Ingeniería Eléctrica y Electrónica
dc.publisherFacultad de Ingeniería y Arquitectura
dc.publisherManizales, Colombia
dc.publisherUniversidad Nacional de Colombia - Sede Manizales
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dc.rightsAtribución-NoComercial-SinDerivadas 4.0 Internacional
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.titleIdentificación experimental de la fricción en las transmisiones accionadas por cable
dc.typeTesis


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