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ческого анализа являются первым шагом в разработке системы управ ления, обеспечивающей координацию и согласован ность требуемых перемещений всех исполнительных органов в соответствии с указанной программой, которая понимается как набор инструкций для обеспечения реализации технологического процесса. Ключевые слова: дельта-робот, обратная кинематика, прямая кинематика, электромехани ческая система Рекомендовано до публікації докт. техн. наук С.І. Випанасенком. Дата надходження рукопису 22.12.16. Моделювання елеКтроМеханічної систеМи гідротранспорту збагачувальної фабриКи Purpose. To construct and analyze electromechanical system model for hydrotransport used at factories, that will be able to take into account changes related to equipment wear, and also produce the accumulation of technical changes caused by the exploitation of the pipeline system. Methodology. The dynamic model of the electromechanical system of hydrotransport is developed on the basis of data about physical parameters of hydrotransport systems, received empirically. It is based on the methods for identification of dynamic systems in the form of differential equations for elements of the inside-factory hydraulic transport technological object. Findings. A model of the electromechanical system of hydrotransport is developed. Verifications of homogeneity by the Fisher's and Bartlett's criteria showed the homogeneity of the estimates of the variance of reproducibility. For the Fisher's criterion rating was 2.59; for the Bartlett's criterion verification showed that the coefficient is significant at the level less than 0.02, and this is indicating the reliability of the calculation of the correlation matrix. Originality. For the first time a model for systems of the hydraulic transport, based on the Jeffcott's multi-mass rotor models, was applied. While modelling, wear of equipment in process is taken into account. Practical value. Efficiency of usage of Jeffcott's multi-mass rotor models based model, has been proven. It allows describing the behavior of an object in specific technological regimes reliably and improves efficiency of the processes.

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