Identificación experimental de la fricción en las transmisiones accionadas por cable

ilustraciones, gráficos, tablas.

Autores:: TORRES CHARRY, GIOVANNI

Tipo de recurso:: Doctoral thesis

Fecha de publicación:: 2022

Institución:: Universidad Nacional de Colombia

Repositorio:: Universidad Nacional de Colombia

Idioma:: spa

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dc.title.spa.fl_str_mv	Identificación experimental de la fricción en las transmisiones accionadas por cable
dc.title.translated.eng.fl_str_mv	Experimental identification of friction in cable-driven transmissions
title	Identificación experimental de la fricción en las transmisiones accionadas por cable
spellingShingle	Identificación experimental de la fricción en las transmisiones accionadas por cable 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Friction (Mechanical) Tribología -- Tesis y disertaciones académicas. Fricción (Mecánica) Modelo de fricción Transmisión Polea-cable Equipo de pruebas Creep Friction model Cable-driven transmission Test equipment
title_short	Identificación experimental de la fricción en las transmisiones accionadas por cable
title_full	Identificación experimental de la fricción en las transmisiones accionadas por cable
title_fullStr	Identificación experimental de la fricción en las transmisiones accionadas por cable
title_full_unstemmed	Identificación experimental de la fricción en las transmisiones accionadas por cable
title_sort	Identificación experimental de la fricción en las transmisiones accionadas por cable
dc.creator.fl_str_mv	TORRES CHARRY, GIOVANNI
dc.contributor.advisor.none.fl_str_mv	Gómez-Mendoza, Juan Bernardo
dc.contributor.author.none.fl_str_mv	TORRES CHARRY, GIOVANNI
dc.contributor.researchgroup.spa.fl_str_mv	Computación Aplicada Suave y Dura (Shac)
dc.subject.ddc.spa.fl_str_mv	620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
topic	620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería Friction (Mechanical) Tribología -- Tesis y disertaciones académicas. Fricción (Mecánica) Modelo de fricción Transmisión Polea-cable Equipo de pruebas Creep Friction model Cable-driven transmission Test equipment
dc.subject.armarc.eng.fl_str_mv	Friction (Mechanical)
dc.subject.armarc.spa.fl_str_mv	Tribología -- Tesis y disertaciones académicas.
dc.subject.lemb.spa.fl_str_mv	Fricción (Mecánica)
dc.subject.proposal.spa.fl_str_mv	Modelo de fricción Transmisión Polea-cable Equipo de pruebas Creep
dc.subject.proposal.eng.fl_str_mv	Friction model Cable-driven transmission Test equipment
description	ilustraciones, gráficos, tablas.
publishDate	2022
dc.date.accessioned.none.fl_str_mv	2022-02-15T14:06:31Z
dc.date.available.none.fl_str_mv	2022-02-15T14:06:31Z
dc.date.issued.none.fl_str_mv	2022
dc.type.spa.fl_str_mv	Trabajo de grado - Doctorado
dc.type.driver.spa.fl_str_mv	info:eu-repo/semantics/doctoralThesis
dc.type.version.spa.fl_str_mv	info:eu-repo/semantics/acceptedVersion
dc.type.coar.spa.fl_str_mv	http://purl.org/coar/resource_type/c_db06
dc.type.content.spa.fl_str_mv	Image Text
format	http://purl.org/coar/resource_type/c_db06
status_str	acceptedVersion
dc.identifier.uri.none.fl_str_mv	https://repositorio.unal.edu.co/handle/unal/80984
dc.identifier.instname.spa.fl_str_mv	Universidad Nacional de Colombia
dc.identifier.reponame.spa.fl_str_mv	Repositorio Institucional Universidad Nacional de Colombia
dc.identifier.repourl.spa.fl_str_mv	https://repositorio.unal.edu.co/
url	https://repositorio.unal.edu.co/handle/unal/80984 https://repositorio.unal.edu.co/
identifier_str_mv	Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia
dc.language.iso.spa.fl_str_mv	spa
language	spa
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dc.publisher.spa.fl_str_mv	Universidad Nacional de Colombia
dc.publisher.program.spa.fl_str_mv	Manizales - Ingeniería y Arquitectura - Doctorado en Ingeniería - Automática
dc.publisher.department.spa.fl_str_mv	Departamento de Ingeniería Eléctrica y Electrónica
dc.publisher.faculty.spa.fl_str_mv	Facultad de Ingeniería y Arquitectura
dc.publisher.place.spa.fl_str_mv	Manizales, Colombia
dc.publisher.branch.spa.fl_str_mv	Universidad Nacional de Colombia - Sede Manizales
institution	Universidad Nacional de Colombia
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spelling	Atribución-NoComercial-SinDerivadas 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Gómez-Mendoza, Juan Bernardo5ff8c3c72eebc58b6a876a98bbabe184600TORRES CHARRY, GIOVANNI396e0831de3c1214161bd27ada106fe1600Computación Aplicada Suave y Dura (Shac)2022-02-15T14:06:31Z2022-02-15T14:06:31Z2022https://repositorio.unal.edu.co/handle/unal/80984Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, gráficos, tablas.En 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.This 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.DoctoradoDoctor en Ingeniería - Ingeniería AutomáticaDepartamento de Ingeniería Eléctrica, Electrónica y Computaciónxx, 123 páginasapplication/pdfspaUniversidad Nacional de ColombiaManizales - Ingeniería y Arquitectura - Doctorado en Ingeniería - AutomáticaDepartamento de Ingeniería Eléctrica y ElectrónicaFacultad de Ingeniería y ArquitecturaManizales, ColombiaUniversidad Nacional de Colombia - Sede Manizales620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingenieríaFriction (Mechanical)Tribología -- Tesis y disertaciones académicas.Fricción (Mecánica)Modelo de fricciónTransmisiónPolea-cableEquipo de pruebasCreepFriction modelCable-driven transmissionTest equipmentIdentificación experimental de la fricción en las transmisiones accionadas por cableExperimental identification of friction in cable-driven transmissionsTrabajo de grado - Doctoradoinfo:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_db06ImageTextJ. 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Yin, “Experimental analysis of grease friction properties on sliding textured surfaces,” Lubricants, vol. 5, no. 4, pp. 1–11, 2017, doi: 10.3390/lubricants5040042.EstudiantesInvestigadoresPúblico generalORIGINAL7914507.2022.pdf7914507.2022.pdfTesis de Doctorado en Ingeniería - Automáticaapplication/pdf6546434https://repositorio.unal.edu.co/bitstream/unal/80984/1/7914507.2022.pdf701f1d8b5b6b146132965b4d31562d14MD51LICENSElicense.txtlicense.txttext/plain; charset=utf-84074https://repositorio.unal.edu.co/bitstream/unal/80984/2/license.txt8153f7789df02f0a4c9e079953658ab2MD52THUMBNAIL7914507.2022.pdf.jpg7914507.2022.pdf.jpgGenerated Thumbnailimage/jpeg4619https://repositorio.unal.edu.co/bitstream/unal/80984/3/7914507.2022.pdf.jpgbeebee6d5b88454911d7058192f4c44cMD53unal/80984oai:repositorio.unal.edu.co:unal/809842023-08-01 23:03:58.183Repositorio Institucional Universidad Nacional de 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Identificación experimental de la fricción en las transmisiones accionadas por cable

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