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You are on page 1of 21

DIRECTOR DEVICE

SEMENESCU Danel*

DUMITRU Nicolae*

GHERCIOIU Jeni*

MALCIU Raluca*

*University of Craiova Romania

Abstract:

- the paper analyzes the dynamic behaviour of the

director device mechanism of a hydraulic turbine,

known also as the wicket gate or governing

mechanism of the turbine;

- it is applied an inverse dynamic analysis substituted

by experimental research and the finite element

method;

- for the dynamic analysis, the formalism Newton-Euler

is used, complemented by Lagrange multipliers

method; the forces acting in the kinematic pairs in

dynamic regime are identified, knowing the driving

force and the resistance force, whose variation laws

were experimentally determined.

INTRODUCTION

The closing-opening movement of the director device of a

hydraulic turbine is obtained using two servo-engines.

The closing tension is created by a levers system with

left-right thread and the system protection is provided

by the shear pins calculated to break and cut out the

blade in order to not overstress the mechanism.

presented in Fig. 2, respecting every constructive detail,

starting from each component part drawing and then

continuing with the subassemblies and the general

assembly.

Fig. 2 The virtual model of

the wicket gate mechanism

the attached reference systems

The kinematic configuration of the mechanism leads to a

system of equations having the following form:

(1)

q i , t 0, i 1,7 ,

where:

i

q rCT10 , i is the position vector of the link i;

the mobile system are:

i T

i 1,7 (2)

q

M i q i Qia 0

where:

- the matrix defining the inertial properties of the link i is:

M i mi , J C1

i 1,7

- the mass of the link i;

mi

- J - the moment of inertia about an axis passing

C!

through the mobile reference system region;

- Q a - the generalized forces matrix corresponding to the

i

link i.

complemented by the Lagrange multipliers method are:

(3)

Mq J T Q a

q

where: M

- the masses matrix;

q - the generalized coordinate vector;

J q- the Jacobian corresponding to the

generalized coordinate vector;

- Lagrange multipliers vector;

Q a- the generalized active forces matrix.

It is obtained a system of equations having the following

form:

x1 , y1 , z1 ,1 , x 2 , y 2 , z 2 , 2 , x3 , y 3 , z 3 , 3 , x 4 , y 4 , (4)

0

z 4 , 4 , x5 , y 5 , z 5 , 5 , x 6 , y 6 , z 6 , 6 , x 7 , y 7 , z 7 , 7

following expression is obtained:

(5)

J q q

time, well have:

2

J q q J q q q q 2 2 J q q 0

(6)

t

2

J q q 2 J q q J q q q q 2

t

2

a 2 J q q J q q q q 2

t

it is obtained:

J q q a

(7)

(8)

(9)

generates the dynamic analysis of the mechanism:

J q

J qT q Q a

0 a

(10)

the next system of equations:

Q

T 1

Jq

Mq

(11)

MATHEMATICAL MODELS

PROCESSING

For processing the mathematical models defining the

inverse dynamic analysis, it is used the Maple

programming environment. The input data are:

- The variation law of the generalized coordinate:

(12)

S 0.2078t 0.0063

to the blade:

Fr 12.464 t 1278.2755

(13)

cos 2.98122345 .5673899555 10 3 t .3057903923 10 6 t 2

Fm 564766.3 N

(14)

a)

b)

from the joint D: a) R4x; b) R4y

a kinematic pair are represented in Fig. 4.

SIMULATION

Kinematical modeling needs

the following input data:

- The kinematic geometry of

the mechanism, whose

elements are 3D modeled;

- The piston stroke variation

law;

- The resistance force variation

law.

As a result of the input data, it

was developed the 3D model

of the wicket gate

mechanism using ADAMS

programming environment,

presented in Fig. 5.

simulation of the mechanism operation, for the

mid-position with open blades.

variation laws for the kinematic parameters were

identified for each mechanism element as it is

showed in the following pictures:

mechanism element no. 5

mechanism element no. 4

In order to perform the finite element modeling:

- there are experimentally identified the time

variation laws for the normal pressure acting on

the blade and for the driving link lift;

- the contact between the system components is

considered with friction and the modeling uses a

combination of hexahedron and tetrahedron

type elements;

- finite element modelling aims to analyze the

dynamic behaviour of the entire system while

45 seconds.

wicket gate blade

and stresses are identified for each mechanism

component, as it is showed for the case of the

wicket gate blade, respectively in Fig. 9, Fig. 10

and Fig. 11.

equivalent elastic strains for the

wicket gate blade

equivalent stress for the wicket gate

blade

[MPa] for the wicket gate blade (Nod 75123)

the wicket gate blade (Nod 42923)

the wicket gate blade (Nod 42923)

CONCLUSIONS

Using the finite element modeling, the stress,

system component were obtained; it was found that

the maximum values are obtained mainly for the

shear bolts designed to protect the whole system to

the flow fluctuations that may occur.

The research has been focused mainly on the blade

of the wicket gate mechanism. The authors propose

its optimal analysis for a minimum overall

dimension, obtained for an imposed value of von

Mises stress.

Dynamic modeling of rigid bodies and deformable

bodies have been performed for designing a

mechanical system with an optimal dynamic

behavior in the case of excitations due to pressure

and piston stroke variations.

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