MATHEMATICAL MODELING OF DYNAMIC PROCESSES IN ESSENTIALLY NONLINEAR MECHANICAL SYSTEMS WITH LUMPED PARAMETERS

The paper presents a system of differential equations that describe the processes of motion transfer in mechanisms taking into account the essential nonlinearities caused by hysteresis phenomena, dead zones, pressure limitations, etc. The computational algorithm is based on the Runge-Kutta method of the fourth order. A solution to a system of ordinary differential equations is described in the presence of essential nonlinearities. Here, at each stage of the calculation, the features of the nonlinearities that are present in the system are taken into account. The results of modeling the change in the speed of rotation of the output link and stresses in mechanical lines after a stepwise increase in the control action are given. The simulation was carried out with the help of a computer with the steps of counting H=10(-4); 2*10(-4)s. The error did not exceed 10%.