У статті розроблено аналітичні залежності визначення головних частот динамічного тренажера
екіпажів бойових мобільних машин. Визначені резонансні режими функціонування за шістьма уза-
гальненими координатами. За результатами чисельного моделювання побудовано діаграми залежності головних частот від просторової конфігурації платформи гексаподу. Встановлено, що відхилення платформи від горизонтального положення зменшує першу, другу та четверту головні частоти, а третя і пята головні частоти збільшуються. Отримані аналітичні моделі дають змогу обрати умови функціонування тренажера в діапазоні допустимих значень резонансних частот.
In article analytical dependences of determination of the main frequencies of the dynamic exercise
machine of crews of fighting mobile vehicles are developed. Exercise machines on the basis of a hexapod machine out real overloads on crews of cars, model the movement of the vehicle in the conditions of difficult maneuver, an adverse condition of the road, case vibration, at refusal of systems of the car or its partial destruction. In emergency situations of maneuver of the car there are difficult spatial movements and overloads which become defining at working off of professional skills of maneuvering. Therefore
research of a range of the main frequencies of free fluctuations of system of the exercise machine- hexapod is an actual task. At the movement of the exercise machine its spatial orientation and respectively oscillatory parameters changes. At fluctuations of the exercise machine round this configuration Yakobian systems can be considered invariable. The generalized coefficients of rigidity and inertia thus are constants. The resonant modes of functioning of the exercise machine are determined from the frequency equation
by six generalized coordinates: to three coordinates of a pole of a platform and three corners of Euler-Krylov. By results of numerical modeling charts of dependence of the main frequencies on a spatial configuration of a platform of a hexapod are constructed. At a platform deviation from horizontal situation the
first, second and fourth main frequencies decrease and the second and fifth – increase. Value of the sixth main frequency fluctuates at the level of 3000s–1 and almost doesn't depend on a corner (–20°…+20°) turn of a platform. The set of spatial configurations of a platform with low values the main frequencies is defined. The knowledge of a range of the main frequencies facilitates a choice of a trajectory of possible maneuver of the
exercise machine when training crews of cars. The received analytical models give the chance to choose exercise machine operating conditions in the range of admissible values of resonant frequencies.
