Zbornik Radova COMETa 2016

UNIVERSITY OF EAST SARAJEVO
FACULTY OF MECHANICAL
ENGINEERING
3rd INTERNATIONAL SCIENTIFIC CONFERENCE
COMETa2016
Conference on Mechanical Engineering
Technologies and Applications
PROCEEDINGS
7th-9th December
East Sarajevo-Jahorina, RS, B&H
_____________________________________________________________________________
ZBORNIK RADOVA
PROCEEDINGS
Istono Sarajevo Jahorina, BiH, RS

7 - 9. decembar 2016.
East Sarajevo Jahorina, B&H, RS

7th 9th December 2016.
ZBORNIK RADOVA SA 3. MEUNARODNE
NAUNE KONFERENCIJE
Primijenjene tehnologije u mainskom inenjerstvu
COMETa2016, Istono Sarajevo - Jahorina 2016.
PROCEEDINGS OF THE 3rd INTERNATIONAL

SCIENTIFIC CONFERENCE
Conference on Mechanical Engineering
Technologies and Applications
COMETa2016, East Sarajevo - Jahorina 2016.
Organizator: Univerzitet u Istonom Sarajevu

Mainski fakultet Istono Sarajevo
Organization: University of East Sarajevo
Faculty of Mechanical Engineering East Sarajevo
Izdava: Univerzitet u Istonom Sarajevu

Publisher: University of East Sarajevo
Faculty of Mechanical Engineering East Sarajevo
Za izdavaa: Prof. dr Ranko Antunovi

For publisher:
Urednici: Prof. Dr Biljana Markovi,

Editors: Prof. Dr Ranko Antunovi,
Tehnika obrada i Ranka Gojkovi, senior asisstant

dizajn: Nikola Vueti, senior asisstant
Technical treatment Aleksija uri, senior asisstant
and desing:
Izdanje: Prvo
Printing: 1st
Register: ISBN 978-99976-623-7-8

Register: COBISS.RS-ID 6240280
II
REVIEWERS
PhD Adisa Vuina, FMEC Mostar (B&H)

PhD Radoslav Tomovi, FME Podgorica (MNE)
PhD Milo Milovanevi, FME Nis (Serbia)
PhD Mirko Blagojevi, FE Kragujevac (Serbia)
PhD Miroslav Milutinovic, FME UES (B&H)
PhD Sran Vaskovi, FME UES (B&H)
PhD Nikola Tanasi. FME Belgrade (Serbia)
PhD Goran Oraanin, FME UES (B&H)
PhD Lozica Ivanovi, FE Kragujevac (Serbia)
PhD Dragoljub ivkovi, FME Nis (Serbia)
PhD Biljana Markovic, FME UES (B&H)
PhD Milija Krainik, FME UES (B&H)
PhD Ranko Antunovic, FME UES (B&H)
PhD Milosav Ognjanovi. FME Belgrade (Serbia)
PhD Slavia Moljevi, FME UES (B&H)
PhD Vlado Medakovi, FME UES (B&H)
PhD Aleksandar Koarac, FME UES (B&H)
PhD Milan Zeljkovi, FTS Novi Sad (Serbia)
PhD Jelena Jovanovic, FME Podgorica (MNE)
PhD Snezana Nestic, FE Kragujevac (Serbia)
PhD Dragan Mili, FME Nis (Serbia)
PhD Novak Nedi, FMCE Kraljevo (Serbia)
PhD Slobodan Tabakovi, FTS Novi Sad (Serbia)
PhD Miroslav ivkovi, FE Kragujevac (Serbia)
PhD Aleksandar Zivkovic, FTS Novi Sad (Serbia)
PhD Vojislav Filipovi, FMCE Kraljevo (Serbia)
PhD Mladomir Milutinovic, FTS Novi Sad (Serbia)
INTERNATIONAL SCIENTIFIC COMMITTEE
PhD Biljana Markovi, FME UES (B&H) president

PhD Vojislav Novakovi, NTNU Trondheim (Norway)
PhD Nenad Gubeljak, TF Maribor (Slovenia)
PhD Athanasios Michailidis, AUT (Greece
PhD Radivoje Mitrovi, FME Belgrade (Serbia)
PhD.-Ing. Albert Albers, University of Karlsruhe (Gemrmany)
PhD Aleksandar Veg, FME Belgrade (Serbia)
PhD Ranko Antunovi, FME UES (B&H)
PhD.-Ing. Ljubomir Dimitrov TU Sofia (Bulgaria)
PhD Milosav Ognjanovi, FME Belgrade (Serbia)
PhD Vojislav Miltenovi, FME Ni (Serbia)
PhD Imre Kiss, University Politehnica Timisoara (Romania)
PhD Slavko Krajcar, FER Zagreb (Croatia)
PhD Neboja Radi, FME UES (B&H)
PhD Tale Geramitioski, UKLO Bitola (FYROM)
PhD Miroslav ivkovi, FE Kragujevac (Serbia)
PhD Slavko Arsovski, FE Kragujevac (Serbia)
PhD Zoran Ljuboje, FEE UES (B&H)
PhD Duan Golubovi, FME UES (B&H)
PhD Zoran Markov, FME Skoplje (FYROM)
PhD Adisa Vuina, FMEC Mostar (B&H)
III
PhD. - Ing. Miroslav Vere, SUT Bratislava (Slovakia)
PhD Ranko Boikovi, FTE UES (B&H)
PhD Dragan Mili, FME Ni (Serbia)
PhD Radoslav Tomovi, FME Podgorica (MNE)
PhD Ljubodrag Tanovi, FME Belgrade (Serbia)
PhD Sinia Kuzmanovi, FTS Novi Sad (Serbia)
PhD Miroslav Milutinovi, FME UES (B&H)
PhD Dragia Viloti, FTS Novi Sad (Serbia)
PhD Milija Krainik, FME UES (B&H)
PhD Milan Zeljkovi, FTS Novi Sad (Serbia)
PhD Milenko Obad, FMEC Mostar (B&H)
PhD Novak Nedi, FMCE Kraljevo (Serbia)
PhD Petar Gvero, FME Banja Luka (B&H)
PhD Sran Vaskovi, FME UES (B&H)
PhD.-Ing. Sava Ianici, University of Resita "Eftimie Murgu" (Romania)
PhD Fuad Hadikaduni, FME Zenica (B&H)
PhD Milomir Gai, FMCE Kraljevo (Serbia)
PhD Mirko Blagojevi, FE Kragujevac (Serbia)
PhD Sead Pai, FME University Demal Bijedi Mostar (B&H)
PhD Mircea Viorel Dragoi, University Transilvania, Brasov (Romania)
PhD Milentije Stefanovi, FE Kragujevac (Serbia)
PhD Stojan Simi, FME UES (B&H)
PhD Ljubomir Luki, FMCE Kraljevo (Serbia)
PhD Slavia Moljevi, FME UES (B&H)
PhD Zdravko Krivokapi, Podgorica (CG)
PhD Bogdan Mari, FP UES (B&H)
PhD Darko Kneevi, FME Banja Luka (B&H)
PhD Dragan Spasi, FTS Novi Sad (Serbia)
PhD Livia Dana Beju, EF UNI SIBIU (Romania)
PhD Nedeljko Vukojevi, MFE Zenica (B&H)
PhD Sreten Peri, MA Belgrade (Serbia)
PhD Petar Novak, VTS Novo Mesto (Slovenia)
PhD Milovan Jotanovic, FT UES (B&H)
PhD Goran Orasanin, FME UES (B&H)
PhD Vlado Medakovi, FME UES (B&H)
PhD Anto Gajic, FME UES (B&H)
ORGANIZING COMMITTEE
PhD Ranko Antunovi, FME UES - president

PhD Biljana Markovi, FME UES
PhD Slavia Moljevi, FME UES
PhD Miroslav Milutinovi, FME UES
PhD Milija Krainik, FME UES
PhD Sran Vaskovi, FME UES
PhD Saa Prodanovi, FME UES
PhD Aleksandar Koarac, FME UES
MSc Aleksija uri, assistant, FME UES - Technical Secretary
MSc Nikola Vueti, senior assistant, FME UES - Technical Secretary
MSc Ranka Gojkovi,senior assistant, FME UES- Technical Secretary
Vera Stanii - Secretary
IV
GENERAL SPONSOR
Ministry of Science and Technology Republic of Srpska
SPONSORS
V
The conference has been supported by:
International Federation for the Promotion Association for Design, Elements

of Mechanism and Machine Science and Constructions
Turistika organizacija Istono Sarajevo
VI
PREFACE
Production in developed countries is based on the modernization and

optimization of the production processes with the application of new technologies that
are the result of scientific research. The application of new technology enables
companys efficient production and competitiveness in the world market.
Faculty of Mechanical Engineering, University of East Sarajevo, organizes the
Third international conference "COMETa2016 - Conference on Mechanical
Engineering Technologies and Application", which has tasks: to increase economic
competitiveness in the region and to give an contribution to creation of unique
European Research Area.
Globally, we are witnessing a rapid development and a host of new
technological solutions, which occur primarily in the multidisciplinary development
(mechatronics) but also in development of completely new technologies, such as
nanotechnology, biomaterials, bioengineering, new energy sources, intelligent
machines and processes, micro-technique, etc. All of this puts researchers and
engineers in the new challenges and creates opportunities for products and
technologies that provide a precondition for economic recovery and creation of new
jobs.
COMETa2016 conference program structure is consisted of the following
thematic areas: Production technologies and advanced materials, Energy and
environment, Applied mechanics and mechatronics, Development of products and
mechanical systems, Quality and management and Organization and maintenance.
Participation in international conference COMETa2016 was achieved by: 202
authors from 9 countries, with a total of 78 papers, including 3 plenary lectures.
Inside of conference COMETa2016 has been planned organization of one
working meeting and two round table discussion based on actual topics of conference.
During the conference, it will be presented some of technical solutions produced in
companies from our region.
The presence of a large number of participants from Bosnia and Herzegovina
and abroad as well as the problems which are processed at the conference, coincide
with the themes promoted by the European Union in its development programs.
On the basis of previous exposure, a gathering of scientists and researchers at
the international conference COMETa should be understood not only as an exchange
of knowledge and achievements of the narrower set of scientists and researchers, but
also as a constant and serious attempt to focus social consciousness and social life
on activities that ensures progress and prosperity of any society, and that is productive
work, creating new knowledge and economic development.
On behalf of the Organizing Committee and Scientitific Committiee of the
Conference COMETa2016, we want to express our gratefullness to all authors,
reviewers, as well as institutions, companies and individuals who contributed to
realization of the Conference.
East Sarajevo, November 19th, 2016.
President of the Scientific Committee President of the Organizing Committee
Prof. dr Biljana Markovi Prof. dr Ranko Antunovi
VII
VIII
C O N T E N T
APPLIED MECHANICS AND MECHATRONICS
Chairpersons: Vlatko Doloek, Miroslav ivkovi, Novak Nedi
1. Isak Karabegovi, Vlatko Doleek

THE TENDENCY OF APPLICATION OF INDUSTRIAL ROBOTS IN
1
THE AUTOMOTIVE, ELECTRICAL ENGINEERING AND METAL
INDUSTRIES WORLDWIDE
2. Dragan Raki, Miroslav ivkovi, Nikola Milivojevi, Dejan Divac
STABILITY ANALYSIS OF A CONCRETE GRAVITY DAM USING 9
SHEAR STRENGTH REDUCTION METHOD
3. Vladimir Milovanovi, Miroslav ivkovi, Gordana Jovii,
Aleksandar Dii, Miroslav Milutinovi
17
EXPERIMENTAL AND NUMERICAL STRENGTH ANALYSIS OF
WAGON FOR CONTAINERS TRANSPORTATION
4. Radivoje Mitrovi, Ivana Atanasovska, Nataa Soldat
NUMERICAL ANALYSIS OF DYNAMIC BEHAVIOR OF BALL 23
BEARING DEPENDING N EXTERNAL RADIAL FORCE
5. Radoslav Tomovi
29
DYNAMIC MODEL OF RIGID ROTOR IN ROLLING BEARING
6. Neboja Radi, Dejan Jeremi
MECHANICAL BUCKLING OF DOUBLE-LAYERED GRAPHENE
37
SHEETS EMBEDDED IN AN ELASTIC MEDIUM USING A
NONLOCAL NEW FIRST-ORDER DEFORMATION THEORY
7. Aleksandar Milainovi, Zdravko Milovanovi, Darko Kneevi
LAGRANGE MULTIPLIERS OF THE CONSTRAINT FORCES OF THE 47
SLIDER CRANK MECHANISM
8. Nikola Vueti, Aleksandar Koarac, Mirko Blagojevi, Ranko
Antunovi
55
ANALYTICAL DETERMINATION OF DRIVE SHAFT NATURAL
FREQUENCIES
9. Nikola Vueti
IMBALANCE INFLUENCE ON ROLLING BEARING OPERATING 63
TEMPERATURE
10. Dragan Trifkovi, Branimir Krsti, Dajana Vujanovi
CORROSION AS A CAUSE OF FAILURE OF AIRCRAFT 71
CYLINDRICAL ELEMENTS CASE OF STUDIES
11. Saa Prodanovi, Novak Nedi
ANALYSIS OF POSSIBILITIES FOR THE STATIC DECOUPLING 81
CONTROL APPLICATION IN TITO SYSTEMS
IX
12. Jovan ulc, Vule Relji, Brajan Baji, Dragan elija
DESIGN AND DEVELOPMENT OF EXPERIMENTAL SETUP FOR
87
ANALYSIS AND SYNTHESIS OF CONTROL LAWS IN
MANIPULATOR CONTACT WITH ENVIRONMENT
13. Zlata Jelai
CONTACT FORCE PROBLEM IN THE SERVICE ROBOT CONTROL 93
DESIGN
MACHINE DESIGN, SIMULATION AND MODELING
Chairpersons: Dragan Mili, Mirko Blagojevi, Lozica Ivanovi
1. Nenad Marjanovic, Nenad Kostic, Nenad Petrovic,Mirko

Blagojevic, Milos Matejic
101
TEACHING-LEARNING-BASED OPTIMIZATION ALGORITHM FOR
SOLVING MACHINE DESIGN CONSTRAINED OPTIMIZATION
2. Marko Deni, Nenad Petrovi, Vesna Marjanovi
109
ANALYSIS OF WIND TURBINE LATTICE TOWER TYPE CONCEPTS
3. Jovan Pavlovi, Dragoslav Janoevi, Vesna Jovanovi
GENERATING VARIANT SOLUTIONS OF DRIVE MECHANISMS OF 115
A LOADER MANIPULATOR
4. Blaa Stojanovi, Sandra Velikovi, Marko Risti, Saa
Jovanovi, Aleksandar Skuli
123
INFLUENCE OF TORQUE VARIATION ON STRESS OF TIMING
BELT
5. Goran Pavlovi, Vladimir Kvrgi, Mile Savkovi, Milomir Gai,
Neboja Zdravkovi
THE INFLUENCE OF THE POSITION OF LONGITUDINAL 131
STIFFENERS TO THE OPTIMUM DIMENSIONS OF THE BOX
SECTION OF THE SINGLE-GIRDER BRIDGE CRANE
6. Slavica Miladinovi, Sandra Velikovi
OPTIMIZATION AND PREDICTION OF SAFETY COEFFICIENT FOR
139
SURFACE DURABILITY OF PLANETARY GEAR USING TAGUCHI
DESIGN AND ARTIFICIAL NEURAL NETWORK
7. Slobodan Gari, Lozica Ivanovi, Blaa Stojanovi, Slavica
Miladinovi, Vladimir Milovanovi
147
NUMERICAL ANALYSIS OF ALUMINUM COMPOSITE CYLINDRICAL
GEARS
8. Nadica Stojanovi, Jasna Gliovi, Nenad Marjanovi, Ivan Gruji
OPTIMIZATION OF VENTILATED DISC BRAKE VANES FOR HEAVY 155
DUTY VEHICLE
9. Ivan Grujic, Nadica Stojanovic, Aleksandar Davinic, Radivoje
Pesic, Danijela Miloradovic 163
OPTIMIZATION OF CONNECTING ROD LENGTH
10. ore Miltenovi, Milan Bani, Aleksandar Miltenovi, Milan Tica
POWER LOSSES AND EFFICIENCY OF WORM GEARS IN 169
EXTREME OPERATING CONDITIONS
11. Maja avi, Marko Peni, Milan Rackov, Ivan Kneevi, Miodrag
Zlokolica
DYNAMIC ANALYSIS OF THE THERMOFORMING MACHINE 177
WORKING MECHANISM
X
12. Kreimir Vukovi, Ivan ular, Stjepan Risovi
EFFECTS OF FINITE ELEMENT TYPE, MESH SIZE AND FRICTION 185
ON SPUR GEAR NOMINAL TOOTH ROOT STRESS RESULTS
13. Amna Bajtarevi, Fuad Hadikaduni, Nedeljko Vukojevi
NUMERICAL ANALYSIS OF SINGLE GIRDER SUSPENSION 191
OVERHEAD CRANE
MANUFACTURING TECHNOLOGIES AND ADVANCED

MATERIALS
Chairpersons: Milentije Stefanovi, Milan Zeljkovi, Ljubodrag Tanovi
1. Slobodan Tabakovi, Saa ivanovi

SIMULATION OF KINEMATIC OF VIRTUAL PROTOTYPE OF A 199
MACHINE TOOL BASED ON HYBRID O-X MECHANISM
2. Saa ivanovi, Nikola Slavkovi, Branko Kokotovi, Dragan
Milutinovi
MACHINE SIMULATION OF VIRTUAL RECONFIGURABLE 5 AXIS 207
MACHINE TOOL WHEN MACHINE WORKING ACCORDING TO THE
RUNNING PROGRAM
3. Aleksandar ivkovi, Milan Zeljkovi, Milo Kneev
215
THERMAL MODEL OF HIGH SPEED MAIN SPINDLE
4. Aco Anti, Milan Zeljkovi, Dejan Luki
INFLUENCE OF TOOL WEAR ON THE CHIPS SEGMENTATION 221
AND VIBRATIONS SIGNAL IN TURNING PROCESS
5. Milo Pjevi, Ljubodrag Tanovi, Vladan osovi
EXPERIMENTAL IDENTIFICATION OF THE INFLUENCE OF TOOL
229
GEOMETRY ON THE LATERAL AND RADIAL CRACK GROWTH
DURING MICRO CUTTING OF MARBLE
6. Djordje Cica, Branislav Sredanovic, Davorin Kramar
A PREDICTIVE MODEL OF CUTTING FORCES IN MQL TURNING 237
USING GENETIC ALGORITHM
7. Adrian But, Rad Canarache
SOLUTION TO INCREASE THE PRODUCTIVITY ON CNC 243
MACHINING
8. Milentije Stefanovi, Dragan Adamovi, Andreja Stefanovi, Milija
Krainik
249
ENVIRONMENTAL AND ENERGY ASPECTS IN THE
DEVELOPMENT OF TECHNOLOGY OF METAL FORMING
9. Dragoslav Dobra, Milisav Markovi
STANDARDS THAT DEFINE QUALITY OF WELDING 255
PHOTOSENSITIVE VISOR
10. Nenad Bukejlovic, Dario Boikovi, Zdravko Boikovi
263
WELDING BUCKET WHEEL EXCAVATOR KRUPP C700
11. Miroslav Radovanovic
RESEARCH OF CUT QUALITY WHEN CUTTING CARBON STEEL 271
WITH ABRASIVE WATER JET
12. Elvis Hozdi, Emine Hozdi
AGENT STRUCTURES FOR SOCIO-CYBER-PHYSICAL WORK 277
SYSTEMS IMPLEMENTATION
13. Milija Krainik, Milan ljivi, Jelica Ani, Jovica Ili
COMPRESSIVE PROPERTIES OF COMMONLY USED POLYMERS 285
IN ADDITIVE MANUFACTURING PROCESSES
XI
PRODUCT DEVELOPMENT AND MECHANICAL SYSTEMS
Chairpersons: Radivoje Mitrovi, Adisa Vuina, Sinia Kuzmanovi
1. Radivoje Mitrovi, arko Mikovi

INVESTIGATION ON INFLUENCE OF 3D PRINTING DIRECTION ON 293
MECHANICAL PROPERTIES OF ABS PLASTIC PROTOTYPES
2. Milan Rackov, Ivan Kneevi, Sinia Kuzmanovi, Maja avi,
Marko Peni, Sava Ianici
301
PROPOSAL OF ASSESSMENT METHOD OF DIFFERENT QUALITY
SOLUTIONS OF UNIVERSAL GEAR REDUCERS
3. Emine Hozdi, Elvis Hozdi
APPLICATIONS OF ADDITIVE TECHNOLOGIES IN 309
RECONSTRUCTIVE MEDICINE
4. Neboja Raovi, Adisa Vuina, Milenko Obad
EXPERT SYSTEM SUPPORT IN PRODUCT DESIGN FOR ADDITIVE 317
TECHNOLOGY AND REVERSE ENGINEERING
5. Biljana Markovic, Miodrag Divcic
CALCULATION OF THE BEARING MODIFIED RATING LIFE 325
DURING NEW BEARING DESIGN
6. Miodrag Milcic, Tomaz Vuherer, Janez Kramberger, Dragan Milcic,
Boban Andjelkovic
333
IMPACT FRACTURE BEHAVIOUR OF 2024T351 ALUMINIUM
ALLOY SHEETS JOINED BY FRICTION STIR WELDING
7. Daniel Miler, Dragan eelj, Igor Lonarek
CASE STUDY ON CAE TOOLS: OPTIMIZATION OF A 6-AXIS 341
ROBOTIC ARM FOR MAG WELDING
8. Milan Blagojevic, Svetozar Rajnhofer
439
INSTALLATION OF RAILWAYS FOR WELDING PORTAL GUIDANCE
9 Milos Matejic, Lozica Ivanovic, Nenad Kosti
353
PARAMETRIC MODELING OF GEROTOR PUMP
10. Nevena Stevanovi, Zorica Djordjevi, Saa Jovanovi, Olivera
Gavrilovic
361
THE ANALYSIS OF STRESS-STRAIN STATE OF GEARS MADE
FROM COMPOSITE MATERIALS
11. uri Aleksija, Biljana Markovi
QUASI-DYNAMIC TESTING OF A BUTT-WELDED JOINT MADE OF 367
ALUMINIUM ALLOY 6060 (AlMgSi0,5)
RENEWABLE ENERGY AND ENVIRONMENTAL
Chairpersons: Slavko Krajcar, Petar Gvero, Stojan Simi
1. Marko Mani, Dragoljub ivkovi, Milan Djordjevi, Milena Raji,

Milena Jovanovi
375
OPTIMISATION OF A POLYGENERATION SYSTEM FOR THE
ENERGY DEMANDS OF AN INDOOR SWIMMING POOL
2. Sulejman Muhamedagi, Mirsada Oru, Halim Prcanovi, Jusuf
Bori 385
THE AIR QUALITY IN CITY OF ZENICA IN 2015
XII
3. Merima Maslo, Seadin Hadiomerovi
ANALYSIS OF THE PROCESS OF AIR PREPARATION FOR THE
393
PURPOSES OF AIR CONDITIONING USING REGENERATIVE
SYSTEM FOR HEAT RECOVERY
4. Maja Mrki Bosani, Sran Vaskovi, Petar Gvero, Velid
Halilovi, Daliborka Petrovi
399
COMPARISON OF CO2 EMISSIONS FOR SUPPLY CHAINS OF
FUELS FROM BIOMASS AND COAL
5. Sran Vaskovi, Petar Gvero, Vlado Medakovi, Azrudin Husika,
Dragana Kalabi
DETERMINATION VALUES OF SUBSIDIES IN ACCORDANCE WITH 407
THE EXERGY QUALITY OF FUELS AND HEAT PRODUCED FROM
BIOMASS
6. Stojan Simi, Goran Oraanin, Duan Golubovi, Davor Mili
ENERGY AND ENVIRONMENTAL ASPECTS OF ENERGY 417
PRODUCTION FROM ANIMAL MANURE BIOGAS
7. Ernad abanovi, Marko Iki, Slobodan Lubura, Milomir oja
POTENTIAL AND WAY TO UTILIZE PV SYSTEMS IN PUBLIC 421
BUILDINGS
8. Ernad abanovi, Marko Iki, Slobodan Lubura, Milomir oja
CONNECTING PV SYSTEMS ON THE GRID. SELECTION OF 429
CONNECTION TOPOLOGY
9. Goran Oraanin, Stojan Simi,Duan Golubovi, Jovana Pajki,
Davor Mili 437
CONTROL OF WATER SUPPLY PUMPING SYSTEMS
10. Veselin Blagojevi, Duan Gordi, Ranko Boikovi, Vojislav
Novakovi
445
ENERGY-SMART BUILDINGS THROUGH APPLICATION OF THE
INTERNET OF THINGS (IOT)
MAINTENANCE, QUALITY AND ORGANIZATION
Chairpersons: Mitar Jocanovi, Ranko Boikovi, Sneana Nesti
1. Mitar Jocanovi, Velibor Karanovi, Marko Oronjak, Neboja

Nikoli, Darko Kneevi
451
LUBRICATING OILS FOR MODERN AUTOMATIC TRANSMISSIONS
OF MOTOR VEHICLES
2. Marko Oronjak, Mitar Jocanovi, Velibor Karanovi
SIMULATING THE EFFECTS THAT CONTAMINATION HAS ON A 457
HYDRAULIC SYSTEM PERFORMANCE USING MATLAB/SIMULINK
3. Vujadin arenac, Ranko Antunovi, Mio Plei
465
DIJAGNOSTIC MONITORING OF HYDRO UNITS IN HPP VIEGRAD
4. Anto Gaji, Sinia Gaji, Ljilja Rudi-Miki, Jagoda Krsmanovi
DESCALING THE INNER SURFACE WATER STEAM PIPE STEAM
475
BOILER TRACT "P 64", BY THERMALLY-OXYGEN TREATMENT
(TKT) THE TPP UGLJEVIK
5. Veselin Blagojevi, Milan Despotovi, Ranko Boikovi, Sinia
Boikovi 485
ENERGY ANALYSIS OF DOBOJ MUNICIPALITY
XIII
6. Nikola Komatina, Slavko Arsovski, Danijela Tadi, Aleksandar
Aleksi DEFINING THE INPUT VALUES IN FIRST HOUSE OF 493
QUALITY OF QFD METHOD USING FUZZY AHP METHOD
7. Hrvoje Pukari, Aleksandar orevi, Sneana Nesti,
Aleksandar Aleski, Gligorije Mirkov, Miladin Stefanovi
501
QUALITY-RELATED INDICATORS, PERFORMANCES AND
RANKING IN HIGHER EDUCATION
8. Ranka Gojkovi, Slavia Moljevi, Duan Gordi
IMPLEMENTATION OF ENERGY MANAGEMENT SYSTEMS ISO 509
50001:2011 IN B&H
9. Vlado Medakovi, Bogdan Mari, Ranka Gojkovi
CLUSTER AS A MODEL ORGANIZATION FOR SMALL AND 517
MEDIUM-SIZED ENTERPRISES
10. Predrag Petrovi, Milan Plavi
RECONSTRUCTION OF THE TANK WAGON VALVE SYSTEM IN 523
ORDER TO CONFORM WITH INTERNATIONAL STANDARDS
STUDENT SESSION
Chairpersons: Saa Prodanovi, Aleksandar Koarac, Sran Vaskovi
1. Andreja Milovanovi, Milan Blagojevic, Aleksandar Miljkovi

APPLICATION OF REVERSE ENGINEERING IN FORMULA 531
STUDENT CAR DEVELOPMENT
2. Marijana Krajinik
ANALYSIS OF STATIC BEHAVIOR OF SET OF THE MAIN SPINDLE 539
UNTIL QUILL BY USING ANSYS SOFTWARE
3. Aleksandar Tomovi, Marko Mumovi, Vasilije Samardi, Vuk
Vujoevi, Marko Raovi
547
DEVELOPMENT OF CONSTRUCTION OF AN AUTONOMOUS LINE
FOLLOWER ROBOT
4. Marko Mumovi, Aleksandar Tomovi
553
WALKING ROBOT BASED ON JANSEN MECHANISM
5. Miladin Janji, Nemanja Grahovac
POSSIBILITY OF EFFICIENT HEATING AND SUPPLYING
561
DOMESTIC HOT WATER RESIDENTIAL BUILDING WITH A
COMBINATION OF TWO RENEWABLE ENERGY SOURCES
6. Mirjana Jokanovi, Jovana Pajki
567
THE WASTEWATER PURIFICATION PROCESS
7. Kristo Batini
ELECTRICITY POWER GENERATION IN WATER SUPPLY 575
SYSTEMS
8. Danijela Mitrovi, Marko Krnojelac
POSSIBILITY OF REPLACING COAL IN THE HEATING PLANT
583
WHICH IS RUNNING ON SOLID FUEL WITH WASTE WOOD
BIOMASS
INDEX OF AUTORS 589
PRESENTATIONS OF PARTICIPANTS
XIV
________________________________________________________________________________________________
APPLIED MECHANICS
AND MECHATRONICS
_____________________________________________________________________________
TREND PRIMJENE INDUSTRIJSKIH ROBOTA U AUTOMOBILSKOJ,

ELEKTRO I METALNOJ INDUSTRIJI U SVIJETU
Isak Karabegovi1, Vlatko Doleek2
Rezime: U 21.vijeku prolo je vrijeme klasine tradicionalne proizvodnje. Dananji

proizvoai su suoeni sa novim trendovima razvoja i primjene novih tehnologija u
proizvodnim procesima, to ih dovodi u situaciju da moraju koristiti nove proizvodne
metode koje moraju biti fleksibilne i automatizirane.Vrijeme je generacije sloenih
proizvoda koji zahtijevaju prilagodljivost, preciznost i pouzdanost u proizvodnim
procesima, a to je izvan vjetine radnika u proizvodnim procesima koju oni
posjeduju.Ovo nas navodi na pomisao da je neophodno uvoditi industrijske robote u
proizvodne procese i vriti automatizaciju proizvodnih procesa kako bih kompanije
mogle zadovoljiti sve vee zahtjeve kupaca na tritu. Industrijski roboti nalaze
primjenu u automatizaciji proizvodnih procesa u mnogim industrijama. U ovom radu je
dat trend primjene industrijskih robota u svijetu u zadnjih deset godina, kao i trend
primjene industrijskih robota u automatizaciji proizvodnih procesa u automobilskoj,
elektro i metalnoj industriji.Prikazana je analiza primjene industrijskih robota u
odreenim zemljama u svijetu, s trendom primjene u narednom periodu.
Kljune rijei: proizvodni proces, automatizacija, robot,automobilska industrija, elektro

industrija, metalna industrija.
THE TENDENCY OF APPLICATION OF INDUSTRIAL ROBOTS IN THE

AUTOMOTIVE, ELECTRICAL ENGINEERING AND METAL INDUSTRIES
WORLDWIDE
Abstract:The 21st saw the end of classic traditional production. Today's manufacturers
are faced with new trends in development and application of new technologies in
manufacturing processes, which places them in situations where they have to use new
production methods that must be flexible and automated. It is now the time of
generation of complex products that require flexibility, precision and reliability, which is
beyond the skills of workers in the manufacturing process. This makes us think that it is
necessary to introduce industrial robots in manufacturing processes and conduct
automation of these processes in order for companies to meet the increasing demands
1 Prof.dr sc. Isak Karabegovi, Tehniki fakultet Biha, BiH, isak1910@hotmail.com

2 Akademik Vlatko Doleek, Akademija nauka i umjetnosti BiH, Sarajevo, BiH, vldolecek@gmail.com
1
Isak Karabegovi, Vlatko Doleek
of customers in the market. Industrial robots are used in the automation of

manufacturing processes in many industries. The paper discusses the tendency of
application of industrial robots in the world in the past ten years, as well as the
application of industrial robots in the automation of manufacturing processes in
automotive, electrical engineering and metal industries. It also presents the analysis of
application of industrial robots in certain countries in the world, with the tendency for
application in the years to come.
Keywords: manufacturing process, automation, robot, automotive industry, electric

engineering industry, metal industry.
1 UVOD
Razvoj novih metoda i novih tehnologija u svijetu te njihova implementacija u
proizvodne procese, navodi kompanije da stalno moraju pratiti taj razvoj i vriti
modernizaciju i automatizaciju svojih proizvodnih procesa kako bi ostali aktuelni na
tritu. Drugi razlog zbog kojeg moraju da prate razvoj i implementaciju novih
tehnologija je to kupac putem IT tehnologija vrlo brzo dolazi do informacija te proiruje
svoje zahtjeve, tako da proizvodi postaju sve sloeniji i sloeniji za proizvodnju
[1,2,3,4,5,19,20,21]. Da bi kompanije zadovoljile sve vee zahtjeve kupaca primorane
su vriti optimizaciju, automatizaciju proizvodnih procesa od kojih se trai vea
fleksibilnost da bi se skratilo vrijeme izrade, poveao kvalitet, mogunost izrade vie
raznolikih proizvoda, a to je mogue ostvariti samo uvoenjem industrijskih robota u
proizvodne procese.Sam razvoj IT tehnologije, senzorske tehnologije te njihove
primjene u robotskoj tehnologiji dovodi do razvoja novih industrijskih robota koji mogu
da surauju sa radnicima, tako da kompanije u dananje vrijeme vre pametnu
automatizaciju odnosno koriste pametne strojeve a na ove izazove odgovor mora
dati etvrta industrijska revolucija Industrija 4.0. Ako se navede injenica da su u
razvijenim zemljama velike kompanije u svoje poslovne strategije ugradile primjenu
pametne automatizacije vrlo brzo za 10 do 20 godina doi emo do pametnih
tvornica koje e na jednostavan nain moi da zadovolje sve potrebe koje su
neophodne, a koje kupac zahtjeva.Da bismo doli do pametnih tvornica neophodno
je u proizvodne procese instalirati industrijske robote koji se razvijaju u pravcu:
suradnje robota i radnika, pojednostavljenja njegove upotrebe, industrijski roboti sa
vie ruku, integracija robota sa postojeim sistemima, modularni roboti, kompaktan i
lagan robot. Ovo sve predstavlja izazove za industrijsku robotiku.Industrijska robotika
ide u ovom pravcu, a da bismo shvatili kakvo je stanje danas u proizvodnim procesima
izvrimo analizu primjene industrijskih robota u svijetu u odreenim granama industrije.
2 ANALIZA PRIMJENA INDUSTRIJSKIH ROBOTA U SVIJETU

Kao to je poznato etvrta industrijska revolucija pod nazivom Industrija 4.0
[20] predstavlja trenutni trend automatizacije i razmjene podataka u proizvodnim
procesima.Razvoj i napredak novih tehnologija, kao i inovacija u industrijskoj
proizvodnji predstavljaju nove izazove za industrijsku robotiku. Robotika je jedan od
temelja etvrte industrijske revolucije kao to je na slici 1. pokazano. Osnovni razloga
zato je robotika jedan od temelja pametnih tvornica to je dolo do razvoja
industrijskih robota, a moe se rei da oni postaju ravnopravni partneri sa ljudima.Do
sada su roboti i radnici u proizvodnim procesima bili odvojeni ogradama da nebi dolo
do ozljede radnika.Razvoj senzorskerobotike i umjetne inteligencije doveo je do toga
da roboti sada mogu da putem pametnih ureaja komuniciraju s proizvodnim
2
Trend primjene industrijskih robota u automobilskoj, elektro i metalnoj i industriji u svijetu
mainama i radnicima.U razvijenim zemljama kod veine industrijskih kompanija tema

smartfactory (pametna tvornica) je sastavni dio poslovne strategije. Nemogue je
zamisliti budunost proizvodnih procesa u pametnoj tvornici bez industrijskih robota, a
uloga industrijskih robota u etvrtoj industrijskoj revoluciji prikazana je na slici 1.
Slika 1. Industrijski roboti temelj etvrte industrijske revolucije[20]
U budunosti vrlo brzo dolazi do uklanjanja ograda izmeu robota i radnika, jer e
roboti imati ugraene senzore koji e moi da reagiraju na najmanji podraaj.Roboti e
imati mogunost prepoznavanja u okruenju i donosit e najbolji moguu odluku, tako
da e doi do izbjegavanja sudara, odnosno suradnje robota i radnika.Strunjaci, pak,
smatraju da e etvrta industrijska revolucija Industrija 4.0, nas dovesti do pametne
automatizacije odnosno pametnih tvornica koje bih mogle postati potpuna stvarnost
za 10 do 20 godina. Da bismo bolje mogli da shvatimo ulogu industrijske robotike u
automatizaciji proizvodnih procesa, a i njenu ulogu u etvrtoj industrijskoj revoluciji
izvrimo analizu primjene industrijskih robota u svijetu u proteklom periodu koja je
prikazana na slici 2
Jedinica Jedinica
Slika 2. Primjena industrijskih robota u svijetu u periodu 20002015.godine i

predvianje primjene za period 20162019.godine [1,5,10,15,16,17,18]
3
Za trend primjene industrijskih robota u svijetu na godinjem nivou prikazan je

na slici 2. Koriteni su statistiki podaci koriteni su iz IFR (International Federation of
Robotics) [5,6,7,8,9,10].Kao to se moe vidjeti sa slike 2. od 2009.godine dolazi do
rasta primjene industrijskih robota u proizvodnim procesima u svijetu, tako da je
primjena u 2015.godini dostigla iznos oko 254.000 jedinica robota.Kada je predvianje
u pitanju trend je rastui iz godine u godinu tako da se predvia da e se u 2019.godini
primijeniti 414.000 jedinica robota. Da bismo dobili sliku koje zemlje najvie primjenjuju
industrijske robote napravili smo analizu primjene industrijskih robota po zemljama za
2014.godinu koja je prikazana na slici 3.
Jedinica
Slika 3. Primjena industrijskih robota u deset top zemalja u svijeta za 2014.godinu [5]
Kao to vidimo sa slike 3. u prvih pet zemalja u svijetu po najveoj primjeni

industrijskih robota u 2014.godini ubrajaju se: Kina, USA, Japan, Koreja,
Njemaka.Kao to vidimo Kina je na prvom mjestu pa zasluuje da izvrimo analizu
primjene industrijskih robota u Kini i predvianje primjene u narednom periodu.
Jedinica
Slika 4. Primjena industrijskih robota u Kini za period 20102015.godine

i predvianja primjene za period 201-2019.godine [1-13]
4
Kao to vidimo sa slike 4. Kina iz godine u godinu poveava primjenu

industrijskih robota tako da je u 2015.godini primijenila oko 69.000 jedinica robota, a
predvianja su da e se trend primjene svake godine poveavati tako da u 2019.godini
Kina bih trebala instalirati oko 160.000 jedinica robota. Ovo nas navodi na zakljuak da
Kina uurbano vri automatizaciju i modernizaciju proizvodnih procesa, a najvie u
automobilskoj industriji to se moe vidjeti iz godinje proizvodnje vozila gdje je Kina
na prvom mjestu u svijetu.
3 ANALIZA PRIMJENA INDUSTRIJSKIH ROBOTA U PROIZVODNIM

PROCESIMA AUTOMOBILSKE, ELEKTRO/ELEKTRONIKE I METALNE
INDUSTRIJE
Da bismo dobili pravu sliku automatizacije i modernizacije proizvodnih procesa
u razliitim industrijskim granama, odnosno dobili pregled u kojim se proizvodnim
procesima najvie primjenjuju industrijski roboti napravimo analizu primjene
industrijskih robota u automobilskoj industriji, elektro/elektronikoj i metalnoj industriji.
Na slici 5. prikazan je trend primjene industrijskih robota u automobilskoj industriji.
Jedinica x 1000
Slika 5. Analiza primjene industrijskih robota u automobilskoj industriji u svijetu za

period 20122015.godine na godinjem nivou i ukupno[1-5]
Analizom primjene industrijskih robota u automobilskoj industriji vidimo da je

ona na prvom mjestu, te imamo rastui trend primjene kada je u pitanju primjena na
godinjem i ukupnom nivou. U 2015.godini u proizvodne procese automobilske
industrije je instalirano oko 98.000 jedinica robota, dok je ukupno u 2015. godini u
proizvodnim procesima oko 623.000 jedinica industrijskih robota koje proizvode
automobile.Dolazimo do zakljuka da je automobilska industrija ta koja vri
automatizaciju i modernizaciju proizvodnih procesa, a to je za oekivati jer kompanije
koje proizvode automobile moraju biti konkurentne na tritu.Na drugom mjestu po
primjeni industrijskih robota u svijetu je elektro/elektronika industrije te trend primjene
robota u njene proizvodne procese je prikazan na slici 6.
5
Jedinica x 1000
Slika 6. Analiza primjene industrijskih robota u elektro/elektronikoj industriji u svijetu

za period 20122015.godine na godinjem nivou i ukupno[1-5]
Trend primjene industrijskih robota u elektro/elektronikoj industriji je rastui

bilo da se radi o godinjoj ili ukupnoj primjeni.Ovakav trend je oekivan, jer razvoj
novih tehnologije u koje se ubraja i IT tehnologija dovodi do proizvodnje ureaja kao
to su kompjuteri, telefoni, televizori itd., a skoro svakih est mjeseci na tritu se
pojavljuju novi modeli, tako da je ova grana industrije primorana da vri modernizaciju i
automatizaciju proizvodnih procesa. Na osnovu slike 6. zakljuujemo da je u
2015.godini u proizvodne procese elektro/elektronike industrije instalirano oko 54.000
jedinica robota, dok je ukupno instalirano oko 328.000 jedinica industrijskih robota.Ako
znamo injenicu da je u svijetu instalirano ukupno 1.632.000 jedinica robota [5] tada
dolazimo do zakljuka da je u automobilskoj i elektro/elektronikoj industriji instalirano
oko 58,2% procenata svih industrijskih robota.Izvrimo jo analizu primjene
industrijskih robota u metalnoj industriji, a trend primjene prikazan je na slici 7.
Jedinica x 1000
Slika 7. Analiza primjene industrijskih robota u metalnoj industriji u svijetu za period

20122015.godine na godinjem nivou i ukupno[1-5]
Metalna industrija po primjeni industrijskih robota u svijetu je trea, kao to

slika 7 pokazuje trend primjene robota u ovoj industriji je rastui iz godine u godinu. U
2015.godini u svijetu je primijenjeno oko 38.000 jedinica robota, dok je ukupno
instalirano u istoj godini oko 160.000 jedinica robota.Da bismo shvatili o kojoj se razlici
radi o primjeni industrijskih robota u ove tri industrijske grane moramo pogledati sliku 8.
6
Jedinica
Slika 7. Analiza primjene industrijskih robota u svijetu po industrijskim granama

za period 2012-2015.godine[5-9]
Na osnovu dijagrama prikazanog na slici 7. moemo zakljuiti da je po primjeni

industrijskih robota u svijetu po industrijskim granama redoslijed sljedei: automobilska
industrija, elektro/elektronika industrija, metalna industrija i etvrta je industrija gume i
plastike.Redoslijed je logian, jer je automobilska industrija prva ta koja mora imati
modernizirane i automatizirane proizvodne procese, a odmah iza nje dolazi
elektro/elektronika industrija. U automobilsku, elektro/elektroniki i metalnu industriju
od ukupnog broja instaliranih robota instalirano je 68% svih jedinica robota.
4 ZAKLJUCI
Na osnovu izloenih argumenta moemo da donesemo sljedee zakljuke:
Stalni razvoj novih metoda i novih tehnologija dovodi do razvoja industrijske
robotske tehnologije, odnosno novih robota koji e suraivati sa radnicima,
proizvodni procesi biti e potpuno automatizirani, odnosno dolazimo do
pametne automatizacije i na kraju do pametnih tvornica.
Iz godine u godinu primjena industrijskih robota u proizvodne procese svih
grana industrije u svijetu se poveava, a predvianja su da e se ovaj trend
nastaviti i u budunosti.
U svijetu u 2014.godini najvei broj industrijskih robota je instaliran u
sljedeih pet zemalja: Kina, USA, Japan, Koreja, Njemaka.
Kina je vodea u svijetu po automatizaciji proizvodnih procesa (na prvom
mjestu su proizvodni procesi u automobilskoj industriji) jer instalira najvei
broj industrijskih robota, a predvianja su da e se taj trend nastaviti tako da
se u 2019.godini oekuje instaliranje oko 160.000 jedinica robota.
Na prvom mjestu u svijetu po automatizaciji proizvodnih procesa je
automobilska industrija koja je u 2015.godini instalirala oko 98.000 jedinica
robota, dok je ukupno u 2015.godini u automobilskoj industriji instalirano
oko 623.000 jedinica robota.
Na drugom mjestu je automatizacija u elektro/elektronika industrija koja je
u 2015.godini instalirala oko 54.000 jedinica robota, dok je ukupno
instalirano oko 328.000 jedinica robota u ovu industrijsku granu.
I na treem mjestu je metalna industrija sa oko 38.000 jedinica robota, dok
je ukupno instalirano u istoj godini oko 160.000 jedinica robota.
Ako uzmemo injenicu da je u svijetu instalirano ukupno 1.632.000 jedinica
robota, od toga je 68% jedinica robota instalirano u automobilsku,
elektro/elektroniki i metalnu industriju, dolazimo do zakljuka da razvoj i
automatizaciju proizvodni procesa vodi automobilska industrija u svijetu.
7
Automatizacija smanjuje trokove proizvodnje, a to smanjuje cijenu

proizvoda, to dovodi do vee potranje za proizvodima, a ona automatski
poveava zaposlenost.
Na kraju moemo konstatovati da automatizacija proizvodnih procesa ima
pozitivan neto uinak na potranju radne snage u svijetu.
LITERATURA
[1] Karabegovi, I., Husak, E. (2016). China as a leading country in the world in
automation of automotive industry manufacturing processes, 6th International
Congress Motor Vehicles&Motors 2016, 6-8. October, 2016, Kragujevac, Serbia
[2] Karabegovi, I., Husak, E. (2014). Significance of industrial robots in development
of automobile industry in Europe and the World, Journal Mobility and Vehicle,
Vol.40.No.1., University of Kragujevac, Faculty of Engineering, Kragujevac,Serbia,
ISSN 1450-5304, pp.7-16.(http:/www.mvm.fink.rs)
[3] Doleek, V., Karabegovi, I. (2008). Roboti u industriji, Tehniki fakultet
Biha,Biha
[4] Doleek V, Karabegovi I. Robotika, Tehniki fakultet Biha, Biha,2002.
[5] World Robotics 2016, United Nations, New York and Geneva
[11] Bakys, B.,Fedaraviius, A., (2004).RobotuTechnika,KaunasTechnologija,Kaunas
[12] Rogi, M., (2001). Industrijski roboti, Mainski fakultet Banjaluka,Banjaluka
[13] Karabegovi, I., Karabegovi, E., Husak, E., (2011). Application analyses of
industrial robot in World automobile industry in 2010, Journal of international
scientific publications: Material, Methods&Technologies,Vol.5, No.2,decembar
2011. Sofia,Bulgaria, ISSN 1313-2539, : pp 336-345.
14 Freund, E., Stern, O. (1999). Robotertechnologie I, Institut frRoboterforschung,
Dortmund
[15] Karabegovi I., Karabegovi, E., Husak E. (2011). Comparative analysis of the
industrial robot application in Europa and Asia, International Journal of
Engineering&Technology IJET-IJENS, Vol: 11 No:01
[16] Karabegovi, I., Karabegovi, E., Husak, E. (2011). Application analyses of
industrial robot in World automobile industry in 2010,Journal of international
scientific publications: Material, Methods&Technologies,Vol.5, No.2, decembar
2011. Sofia,Bulgaria,ISSN 1313-2539, : pp 336-345.
[17] Karabegovi, E., Karabegovi, I., Hadali, E. (2012). Industrial robots application
trend in world metal industry, Journal Engineering
Economics,Vol.23.No.4,Lithvania, pp.368-378.
[18] Karabegovi, I., Doleek, V., Husak E. (2011). Analysis of the Industrial Robots in
Various Production Processes in the World, International Review of Mechanical
Engineering, Vol.5.,No.7, Napoli, Italy, :pp.1272-1277.
[19] Wolka, D.W. (1992). Roboter sisteme,TechnisheUniversitt des Saarlandes im
Stadtwald
[20] Verl, A. (2016). Robotics&Industrie 4.0, University of Stuttgart,IFR, VDMA
[21] Sciavicco, L., Siliciano, B. (1996). Modeling and Control of Robot Manipulators,
McGraw-Hill International Editions
8
_____________________________________________________________________________
STABILITY ANALYSIS OF A CONCRETE GRAVITY DAM USING

SHEAR STRENGTH REDUCTION METHOD
Dragan Rakic1, Miroslav ivkovi2, Nikola Milivojevi3, Dejan Divac4
Abstract: In the design of a concrete gravity dam, the key problem is to provide adequate
stability against sliding due to the operational loads. When a dam is built on a rock mass
foundation with complex geology as in the case considered in this paper, the stability
analysis problem becomes considerably complicated. The analytical solution of this
problem is very difficult or impossible, so it is necessary to use appropriate numerical
methods. To solve such a problem in the design of a concrete gravity dam on the Ibar
River nearby Kraljevo, an algorithm for elasto-plastic material model was adopted and
implemented in the program PAK. In order to simulate the gradual loss of stability due
to the rock mass strength reduction, the shear strength reduction method was
implemented and used. The analysis shows that the calculated safety factor can reach
the requirements of stability against the collapse in the deep foundation layers.
Key words: concrete gravity dam, finite element method, Hoek-Brown, stability analysis,
shear strength reduction
1 INTRODUCTION
Shear strength reduction (SSR) method, used in this analysis, is based on the
definition of the slope safety factor as a ratio of the actual material shear strength to the
ultimate material shear strength that is required to maintain the slope in equilibrium, first
introduced by Zienkiewicz [1]. In other words, the safety factor of the slope represents
the maximal value of the SSR factor, which fulfills a condition of stability. In numerical
analysis, safety factor represents the value of shear strength reduction factor right before
the numerical solution begins to diverge.
The application of the SSR method using constitutive models with a linear yield
surface is most often considered due to the fact that reduced parameters of this models
can be calculated by simple reducing of the initial material parameters [2, 3]. However,
in most cases, the material models with a linear yield surface cannot represent the real
1 PhD, Dragan Raki, Faculty of Engineering, University of Kragujevac, Serbia, drakic@kg.ac.rs (CA)
2 PhD, Miroslav ivkovi, Faculty of Engineering, University of Kragujevac, Serbia, zile@kg.ac.rs
3 PhD, Nikola Milivijevi, Jaroslav erni Institute for the Development of Water Resources, Serbia,
nikola.milivojevic@gmail.com
4 PhD, Dejan Divac, Jaroslav erni Institute for the Development of Water Resources, Serbia,
ddivac@eunet.rs
9
Dragan Rakic, Miroslav ivkovi, Nikola Milivojevi, Dejan Divac
material behaviour. In this case, the reduced strength of material cannot be obtained by
direct reducing of material parameters, with respect to the original yield criterion [4-8].
This paper presents the use of the SSR method to identify critical failure
mechanism of the concrete gravity dam foundation as well as to determine the safety
factor in the layers of the dam foundation. For this purpose, the algorithm for stress
integration using generalized Hoek-Brown material model was developed and
implemented in the program PAK [9]. The SSR method was used to simulate progressive
failure and possible unstable modes of the dam foundation system. Numerical
integration of constitutive relations is carried out using the governing parameter method
[10].
2 GOVERNING PARAMETER ALOGORITHM

Complex elastic-plastic constitutive models used in the geotechnical analysis
demand reliable and robust numerical procedures for stress integration. In the case
described in this paper, an algorithm for elastic-plastic constitutive model is developed
and implemented using governing parameter method. At the beginning of the time step
( t ) the known variables are: stress t , total strain t e , plastic strain t e p , inner parameter
t t
t
. At the end of time step ( t t ) the only known variable is total strain e and
unknown variables are: stress t t
, plastic strain e , inner parameter t t .
t t p
Application of the governing parameter method is performed through steps:

1. Declare one unknown as the governing parameter ( p ),
2. Express unknowns at the end of the time step using governing parameter p ,
3. Form the function f ( p ) and solve the nonlinear equation by the parameter p ,
4. Calculate all the unknown variables using the calculated governing parameter.
3 CONSTITUTIVE MODEL
For the strength definition of the rock mass nonlinear yield surfaces is usually
used. In the case presented in this paper the generalized Hoek-Brown material model
[5] was used. An algorithm for implicit stress integration, using mentioned model, was
developed and implemented in program PAK. Relation between minimal and maximal
principal stresses in the case of Hoek-Brown model has a following form:
a

1 3 ci mb 3 s (1)
ci
Members of equation (1): ci , mb , s and a represent the material parameters, while 1
and 3 represent maximal and minimal principal stress. These material parameters can
be obtained using geological strength index (GSI), rock disturbance factor (D) and
parameter mi according to [5].
The yield surface of the generalized Hoek-Brown material model can be
expressed using following equation:
1 1 1 1 1
1 1
I1
f
3

mb ci a s ci a 2 a J 2 D cos a mb J 2 D ci a cos

1
3
sin (2)

while equation of plastic potential surface has the form:
10
Stability analysis of a concrete gravity dam using shear strength reduction method
1 1 1 1 1
1 1
I
g 1 mdil ci a s ci a 2 a
3
J 2 D cos a mdil J 2 D ci
cos

1
a
3
sin (3)

where I1 is the first stress invariant and J 2D is the second deviatoric stress invariant,
while ci , mb , mdil , a and s are previously defined parameters of material model.
Variable in the equations (2) and (3) represents the Lodes angle which can be
calculated using stress invariants
4 STABILITY ANALYSIS OF THE CONCRETE GRAVITY DAM

For the ultimate bearing capacity analysis of the dam using finite element
method, the overload or SSR method are commonly used. Overload method is usually
used in cases where there is uncertainty in the determination of external loads whereas
the mechanical properties of materials are known. SSR method is used in cases where
there is uncertainty in determination of mechanical characteristics of materials whereas
the loads are relatively well known. This method is more suitable for this type of analysis
considering inhomogeneities which occur in soil and rock-mass. In addition to
determining factor of safety, it is possible to analyze the failure that occurs in the material,
the potential instability modes, progressive failure and the degree of stability of the dam
foundation and the surrounding rock-mass.
4.1 Application of shear strength reduction method to the Hoek-Brown model

As previously mentioned, yield surface of the generalized Hoek-Brown model
has nonlinear character, so the new parameters of the reduced yield surface cannot be
calculated using simple reduction of the initial material parameters, as in the case of the
linear yield surface. Material parameters of the reduced envelope of the nonlinear
material models can be obtained using following steps:
reduce the initial yield envelope using SSR factor F ,
determine the material parameters corresponding to the reduced
envelope using fitting method,
use new parameters in repeated FEM analysis.
The relations between the normal and shear stresses in the case of generalized Hoek-
Brown material model according to [5], have following form:
d1
1
1 1 d 3
n 1 3 1 3 (4)
2 2 d 1
1
d 3
d1
d 3
1 3 (5)
d1
1
d 3
Using equation (1), reduced shear stresses (5) using SSR factor F can be expressed in
following form [7]:
11
a red 1
3
1 a red mbred mbred red s red
f ci

red 1 3 (6)
F a red 1
3
2 a red mbred mbred red s red
ci

where cired , mbred , s red and a red represent the material parameters for description of
the reduced envelope and these parameters need to be determined. New material
parameters from (6) are not possible to be determined directly, but they can be estimated
using the fitting method, as follows:

2
n apr red
2
(7)
where apr and red represent the approximated and reduced shear stress, respectively.
The parameters calculated in this manner where used in the repeated analysis of the
dam stability until reaching the ultimate bearing capacity of the dam.
5 IMPLEMENTATION OF THE SHEAR STRENGTH REDUCTION METHOD

Using this method, shear strength of the material is reduced iteratively until
reaching the ultimate capacity of the object, so it is necessary to estimate when the stage
of ultimate bearing capacity of the material is reached. When stress exceeds yield stress
in the element, plastic strain will occur, so local failure will also occur. However, that is
not representation of the dam and rock-mass foundation failure. During progressive
reduction of material shear strength, plastic yield of more elements will occur. When
several plastic zones in dam foundation joint, potential ultimate bearing capacity of the
dam is reached. The new material parameters of reduced envelope are obtained using
fitting method and the FEM analysis is repeated using new material parameters.
Reduction factor is increased and the analysis is repeated until there is a convergence
of numerical solutions. The maximal value of the SSR factor for which there is a
convergence of numerical solutions represents the safety factor of the object.
6 CASE OF STUDY
Concrete gravity dams represent complex objects which exceed other modern
buildings in their size, areas that they occupy and influence on the environment. Thus,
during construction and exploitation, global safety of the objects must be provided and
any possible risk must be reduced to the minimum. Safety conditions that dam must
satisfy in their service life are: global stability, stability of upstream and downstream
slopes, safe evacuation of flood water and proper operation of the equipment.
The stress-strain analysis of the dam safety are performed using program PAK
[9]. Since the dam lies on the rock-mass fundament, the Hoek-Brown material model is
adopted.
6.1 Geometry of the dam

The dam is founded on the complex geology so determination of the safety factor
of the failure in the deeper layers of foundation is not possible using traditional methods
[11]. For analysis, calculation and evaluation of the possible unstable modes and
ultimate bearing capacity of the dams foundation and surrounding rock-mass, the
12
nonlinear finite element method was used. Due to the complex geology, the stability
analysis is not possible to be performed using any traditional method without significant
approximations which often reach unrealistic results [12].
Since the powerhouse geometry is very complex, and this complexity does not
obviously affect the object stability, the geometry is simplified using dam contour and
using equivalent concrete material unit-weight. Since this section of the dam also lies on
complex geology, accordingly the analysis of stability was also performed using the finite
element method and SSR method for obtaining safety factor of the dam.
6.2 Boundary conditions and load cases

Two separated finite element models of the overflow and powerhouse dam
sections are formed. In order to minimize the influence of the boundary condition, the
model includes a wider area around the object. Dimensions of the models are 13060
m for the overflow section and 11060 m for the powerhouse section. The boundary
conditions are specified using displacements on the model boundaries: vertical
displacement of the model lateral boundaries are allowed, whereas displacement of the
nodes on models bottom boundary are completely fixed. Material parameters of the
rock-mass used in the analysis are taken from ''Study of geological research results
Preliminary project'' [13] presented in Table 1.
Table 1 Material properties of the geological environment

Material Label [GPa] [kN/m3] ci [MPa] mb s a
Peridotite-low
14.78 0.340 27.4 12.0 0.280 0.002 0.552
cracked
Peridotite-
6.72 0.344 27.3 10.0 0.180 0.0005 0.563
moderately cracked
Peridotite-intensely
3.10 0.353 27.5 7.8 0.114 0.00004 0.569
cracked
Weathering crust of
1.84 0.356 24.5 9.0 0.076 0.0001 0.591
peridotite
Prior to the structure build-up, there was the initial stress state in the rock mass.
This stress state is caused by the deadweight of the rock mass so it is used as the first
load step (step 1). The structure build-up process as well as a gradual filling of
accumulation, do not influence considerably on the final distribution of stress and strain,
so the numerical calculation can be performed with assumption that the dam body is
formed in one step (step 2). The structure build-up is simulated using the element birth
option. Loads during accumulation operation are specified within the next step (step 3).
In the load cases definition normal operating conditions was considered.
Loads influencing the dam in operating regime are: deadweight of the dam and
surrounded rock-mass, water pressure on the upstream and downstream faces of dam,
uplift pressure on the dam foundation, seepage body force under the dam, and silt
pressure on the upstream side of dam. Dynamic analysis is performed using maximal
horizontal acceleration and hydrodynamic pressure load according to Zangars method
[14]. Analysis was performed for all defined load cases, whereas one load case was
presented.
13
Figure 1. FE model of overflow dam section
The unmodelled part of the overflow dam section is taken into account using the
loads on the upper object contour, whereas the equipment influence is taken into
account as the concentrated forces on the binding spot. Different colors of the finite
elements are used for different materials (Figure 1 and Figure 2).
Figure 2. FE model of powerhouse dam section
The overall dam stability is influenced by various factors such as: dam
constructions, loads, characteristics of the foundation, filtration and stress-strain
phenomena, characteristics of the dams material, etc. The gravity concrete dam is
stable if resisting tumbling and floating as well as any other mechanism of failure in the
foundation layers including the sliding along dams foundation. Also, stresses and
displacements of the dam and rock-mass must remain within the safety limits. The safety
factors are defined depending on the function of the potential instability mechanism of
the analyzed dam.
6.3 Analysis results

The plastic strain and total translation field on the dam body and surrounding
rock-mass are presented on Figure 3.
a) b)
c) d)
Figure 3. Plastic strain and total translation for maximal SSR factor
14
Significant zones of plastic strains occur under the overflow dam section during
the reduction of material strength, a zone of compression shear failure occurs at the toe
zone of the dam, and the plastic strain zone of the dam heel continues to increase
(Figure 3a and Figure 3c). According to the displacement results (Figure 3b and Figure
3d), it is clear that displacement of the overflow dam section is dominant. For the same
value of SSR factor the displacement of powerhouse is relatively small.
Diagrams of maximal horizontal displacement as function of SSR (Figure 4)
shows constant displacement increment of the overflow section up to SRF=3, after which
there is a considerate increase of horizontal displacement, and for SRF=3.4 comes to
the loss of stability of this section.
a) b)
Figure 4. Maximal horizontal displacement of the dam in function of SRF
In the case of the powerhouse section, there is no significant increment of

horizontal displacement during the increase of SSR factor but there is an sudden loss of
stability for SRF=3.2. For the global safety factor against the failure in the deep dam
foundation layers, the lower calculated value is adopted, i.e., S=3.2.
7 CONCLUSION
The presented study uses a shear strength reduction (SSR) method for the
determination of safety factor against collapse in the deep layers of the dam foundation,
which lies in the complex geology. For the stability analysis of the dam, the generalized
Hoek-Brown material model was used and the SSR method was used for determination
of safety factor. The stress-strain analyses and increase of the plastic strain zones until
the dam stability loss were done. The mechanical behavior of rock-mass was based on
real mechanical properties of geological materials presented in the dam profile.
The SSR method was used to determine the global safety factor. Used method
can also identify the possible sliding planes and stability loss mechanisms. The SSR
factor was gradually increased to the maximal value until the reaches of ultimate bearing
capacity. Based on this data, it is possible to take appropriate measures to prevent loss
of dam stability.
The plastic zone gradually extends with the increase of SSR factor to the whole
area under the dam foundation on the overflow dam section. The plastic strain occurs
near the dam heel and below the dam toe on the powerhouse dam section. There are
no tensile stresses in the dam foundation. The stress appearing in the object foundation
is several times lower than the ultimate bearing capacity of the rock mass. Analysis
results show that it is not necessary to adopt reinforcement measurements. All obtained
displacements in the dam and rock mass are within the safety limits.
15
ACKNOWLEDGMENT
The authors gratefully acknowledge partial support by the Ministry of Science
and Technology of the Republic of Serbia, grants TR37013 and TR32036.
REFERENCES
[1] Zienkiewicz, O.C., Humpheson C, Lewis RW. (1975). Associated and nonassociated
viscoplasticity in soil mechanics. Gotechnique, Vol. 25, No. 4, pp. 671-689.
[2] Griffiths, D.V., Lane, P.A. (1999). Slope stability analysis by finite elements.
Gotechnique. Vol. 49, No. 3, pp. 387-403.
[3] Zeng, H., Sun, G., Liu, D. (2009). A practical procedure for searching critical slip
surfaces of slopes based on the strength reduction technique. Computers and
Geotechnics. Vol. 36, No. 1-2, pp. 1-5.
[4] Hoek, E., Brown, E. (1980). Empirical Strength Criterion for Rock Masses. Journal
of the Geotechnical Engineering Division-ASCE. Vol. 106, No. 9, pp. 1013-1035.
[5] Hoek, E., Carranza-Torres, C., Corkum, B. (2002). Hoek-Brown failure criterion -
2002 edition. In: Proceedings of the 5th North American Rock Mechanics
Symposium and the 17th Tunnelling Association of Canada: NARMS-TAC 2002;
Toronto, Canada. pp. 267-273.
[6] Fu, W., Liao, Y. (2012). Non-linear shear strength reduction technique in slope
stability calculation. Computers and Geotechnics. Vol. 37, pp. 288-298.
[7] Hammah, R.E., Yacoub, T.E., Corkum, B.C., Curran, J.H. (2005). The Shear
Strength Reduction Method for the Generalized Hoek-Brown Criterion. In:
Proceedings of the 40th U.S. Symposium on Rock Mechanics Alaska Rocks 2005
Conference (ARMA), held in Anchorage, June 2005, Alaska, USA.
[8] Li X. Finite element analysis of slope stability using a nonlinear failure criterion.
Computers and Geotechnics. 2007;34(3):127-136.
[9] Koji, M., Slavkovi, R., ivkovi, M., Grujovi, N. (1998). PAK - Program for analysis
of structures, University of Kragujevac, Faculty of Engineering.
[10] Kojic, M., Bathe, K.J. (2004) Inelastic Analysis of Solids and Structures. 1st ed.
Springer.
[11] Wei Z.,Xiaolin C, Chuangbing Z., Xinghong L. (2008) Failure analysis of high-
concrete gravity dam based on strength reserve factor method. Computers and
Geotechnics Vol. 35, No. 4, pp. 627636
[12] Xuhua, R., Jiaqing, S., Nenghui, B., Hongyun, R. (2008) Stability analysis of
concrete gravity dam on complicated foundation with multiple slide planes. Water
Science and Engineering. Vol. 1, No. 3, pp. 65-72.
[13] Jaroslav Cerni Institute for the Development of Water Resources. (2011) Elaborate
on geological research results Preliminary project. Belgrade, Serbia, Jaroslav
Cerni Institute for the Development of Water Resources.
[14] Saouma, V. (2006). MERLILN - Theory Manual. Boulder: University of Colorado,
Boulder, University of Colorado, Department of Civil Engineering, Boulder.
16
_____________________________________________________________________________
EXPERIMENTAL AND NUMERICAL STRENGTH ANALYSIS OF

WAGON FOR CONTAINERS TRANSPORTATION
Vladimir Milovanovi1, Miroslav ivkovi2, Gordana Jovii3, Aleksandar Dii4,
Miroslav Milutinovi5
Abstract: This paper presents comparative experimental and numerical strength analysis
of wagon for containers transportation according to the TSI standard and norm EN
12663-2:2010. The aim of this analysis is to show that results of stresses obtained by
measuring with strain gauges and stresses obtained by FEM calculation gives good
agreement. Based on the results and their good match, it can be concluded that the
numerical FEM analysis can be reliably used for structural analysis. According to this
fact, FEM analysis can reduce number of the testing new products. This leads to great
savings in the design of new prototypes, in order to immediately start the process of
mass production. This would lead to significantly less cost of products.
Key words: FEM, Wagon analysis, Fatigue strength analysis
1 INTRODUCTION
Numerical simulations are widely used for solving various problems in industry
because they reduce time and cost in developing new products. Simulation results
provide very useful information about the product and can indicate the potential problems
that can be eliminated in design phase.
The next step in projecting phase is making a prototype, based on the results
obtained using FEM. When the prototype testing is finished, it is very important to make
a comparative analysis of the results obtained by FEM calculation and by measurements
on a prototype. Measurement results and results obtained by FEM calculation must meet
all requirements for static and fatigue strength according to standards.
According to TSI standard [1] and norm BS EN 12663-2:2010 [2], static and
1 PhD, Vladimir Milovanovi, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia,

vladicka@kg.ac.rs (CA)
2 PhD, Miroslav ivkovi, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia,
miroslav.zivkovic@kg.ac.rs
3 PhD, Gordana Jovii, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia,
gjovicic.kg.ac.rs@gmail.com
4 PhD student, Aleksandar Dii, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia,
aleksandardisic@gmail.com
5 PhD, Miroslav Milutinovi, Faculty of Mechanical Engineering University of East Sarajevo, East Sarajevo,
B&H, m.milutinovic82@gmail.com
17
Vladimir Milovanovi, Miroslav ivkovi, Gordana Jovii, Aleksandar Dii, Miroslav Milutinovi
fatigue strength analysis of wagon for for containers transportation are done.
Measurement of stresses with strain gauges was done on a prototype, and those results
were compared with stresses obtained by FEM calculation.
2 FEM MODEL
The Sgmns wagon is designed for the transportation of containers and swap
bodies (SBs), within block trains. According to detailed analysis [3] it was concluded that
strength of the bottom part of underframe does not satisfy requirements according to the
standards and the cause of cracking nearby welded joint on the bottom part of
underframe at wagon Sgmns type was determined. The new construction solution for
the bottom part of underframe is proposed and new analysis of strengthened wagon was
done.
FEM model is created using the FEMAP software [4]. According to the
construction type, rectangular and triangular (four and three nodes respectively) shell
elements of the appropriate thickness and 3D eight node elements (for modeling of
support plate, compensating ring, traction stop) are used for creating the finite element
mesh. The structure is modeled in details with 59583 elements and 61200 nodes. The
element length is approximately 40 mm.
3 SAFETY FACTOR, PERMISSIBLE STRESS, LOAD CASES AND

REQUIREMENTS
According to BS EN 12663-2:2010 [2], Clause 6.2.2.1, Table 18 and Table 19,
and to dependence on mechanical characteristics of material (structural steels
S235JRG2 and S355J2+N), permissible stresses in parent material and in parent
material in the immediate vicinity of welds can be calculated under the static load cases
as defined in BS EN 12663-2:2010. The ratio of yield stress (R=Re) to calculated stress
(c) must be greater than or equal to S1, Table 1.
Table 1. Safety factor and permissible stress for static loads parent material and
welded joints
Material Safety factor S1 cmax [MPa]
S235JRG2 1.0 235
S355J2+N 1.0 355
Parent material in the immediate vicinity of
1.1 214
welds S235JRG2
Parent material in the immediate vicinity of
1.1 323
welds S355J2+N
Based on that fatigue load is used in the range of 30% of vertical static load we
can calculate the value of the maximum stress at the fatigue load based on static
analysis, [3]:
max 2.1667 c (1)
Table 2 shows limit values for static test to verify fatigue strength which are
determined for minimum number of 2 million constant amplitude cycles in accordance
with Eurocode 3, Part 1.9 [5], using Figure 7.1 and Table 3.1.
18
Experimental and numerical strength analysis of wagon for container transportation
Table 2. Limit stress values for static test to verify fatigue strength
Limit stress for safe life [MPa]
Direct stress range Permissible maximum fatigue Low High
c [MPa] stress max lim [MPa] consequence consequence
( Mf 1.15 ) ( Mf 1.35 )
1601 347 301 257
1122 243 211 180
100 217 188 160
90 195 170 144
80 173 151 128
71 154 134 114
63 136 119 101
56 121 106 90
50 108 94 80
According to TSI [1] and BS EN 12663-2:2010 [2], it is necessary to calculate the

wagon structure in a relation to the different types of loads. Exceptional load cases are
specified in TSI [1], Clause 4.2.2.3.2 and BS EN 12663-2:2010 [2], Clauses 5.2.2-5.2.3.
For all exceptional load cases maximum value of calculated stress must be lower than
the permissible stress shown in the Table 2.3.1. Service (fatigue) loads are specified in
TSI [1], Clause 4.2.2.3.3 and BS EN 12663-2:2010 [2], Clause 5.2.5. For service
(fatigue) loads maximum value of calculated stress in welded joints must be lower than
the limit stress for the safe life in the Table 2.
4 MEASURING AND POSITION OF STRAIN GAUGES

According to the results obtained by FEM calculations for all of the load cases
defined in accordance with TSI standard and with British Standard EN 12663-2:2010,
strain gauges were set up on prototype of the wagon and measurements were carried
out. Strain gauges showed the results of stresses at those locations.
Position of strain gauges is selected so that it covers all the places on the wagon
where the numerical calculations showed the stress concentration. For the comparative
analysis the most favorable case of vertical load was used. Photos and position of strain
gauges is shown in Figure 1.
Figure 1. Position of strain gauges
1 Limit stress for the safe life in parent material in steel S355J2+N
2 Limit stress for the safe life in parent material in steel S235JRG2
19
5 COMPARATIVE RESULTS OF STRESSES

For all load cases linear static analysis was performed. Structural steels
S235JRG2 (with 235 MPa and 360 MPa as yield limit and failure limit) and S355J2+N
(with 355 MPa and 470 MPa as yield limit and failure limit) are used for all structural
elements. Both types of steel have same material characteristics (2.1 105 MPa, 7.85 10-
6 kg/mm3 and 0.3 as Young Modulus, density and Poisson ratio).
The values of stresses at the locations of strain gauges were obtained for all
cases of static loads and static test for verification of fatigue strength. The measured
values of stresses at the locations of strain gauges and the values of stresses obtained
from the FEM calculations, using software PAK [6], were compared.
The aim of the analysis was to show that the results obtained by measurement
and calculations based on FEM gave similar values of stress, bellow the values of
permissible stress defined according to TSI and BS EN 12663-2:2010.
In the Table 3 are shown comparative results obtained by strain gauges and
appropriate normal stresses obtained by FEM analysis.
Table 3. Comparative results obtained by strain gauges and FEM analysis for the most
favorable case of vertical load
Stresses [MPa]
Strain gauge number Measured value FEA Permissible stress
1 49 47.9 239
4 52 56.3 309
5 -44.2 -46.8 239
7 114.1 116.8 309
8 87.3 91.6 309
9 -56.3 57.7 239
10 -61.6 -63.0 239
11 114.8 137.3 309
13 -52 -88.6 209
16 95.1 97.1 239
18 203.8 206.0 309
19 185.5 191.2 309
21 -46.6 -70.1 209
22 -74.6 -76.8 239
25 -46.7 -73.2 239
27 179.9 191.7 309
30 126.3 139.6 309
31 120.6 138.8 309
The aim of this comparative analysis was to compare the values of stresses
obtained experimentally by strain gauges and stresses obtained by FEM calculation. By
comparing the numerical results with measurement results it was confirmed good
agreement of results. The difference between the results obtained by strain gauges, and
the results obtained by FEM analysis is less than 5%.
6 FATIGUE LOADS - CALCULATION RESULTS

For the most conventional wagon designs, the loading defined in Table 14 of
EN12663 is considered as sufficient to represent the full effective combination of fatigue
load cycles. Source of fatigue loading is determined according to TSI, Annex CC. Based
on the results obtained by analyzing the static strength of the wagon and considering the
20
Experimental and numerical strength analysis of wagon for container transportation
good match of results obtained by experiment and by FEM analysis, it can be concluded
that the fatigue strength of the wagon can be checked using the results of the static test,
Table 2.
Figure 2. Von Mises equivalent stress field underframe
Figure 3. Von Mises equivalent stress field underframe; significant loaded zones
21
Figure 2 show field of von Mises equivalent stress in underframe for the most
unfavorable case of vertical load. Figure 3 shows significant loaded zones in underframe.
Stress levels used in the legend in Figures 2 and 3 are defined according to Table 2.
Table 3 shows the maximum values of stress in welded joints.
Table 4. The maximum value of stresses in welded joints

Figure Detail Table and detail, Max. calculated Limit stress for
No category Eurocode 3, Part 1.9 stress [MPa] safe life [MPa]
4a 160 Parent material 219.9 257
4b 100 Table 8.2 d6 149.0 160
4c 90 Table 8.3 d6 128.6 144
4d 71 Table 8.3 d13 95.6 114
4e 100 Table 8.2 d6 148.3 160
4f 100 Table 8.2 d6 132.9 160
Based on calculated stresses (Table 3) and limit stresses given in Table 2, it can
be concluded that all calculated stresses in the parent material and welded joints are
below limit stress for safe life for appropriate weld type.
7 CONCLUSIONS
The aim of this paper was to compare results of stresses obtained by measuring
with strain gauges and stresses obtained by FEM calculation. This analysis
demonstrates applying of the most common European standards for calculating static
and fatigue strength of wagon. Comparing the numerical results with the results of
measuring, it is verified that software gives good agreement with the experimental
results. Difference between results obtained by strain gauges and FEM analysis is lower
than 10%. According to presented results it can be concluded that FEM analysis can
reduce number of the testing new products. This would lead to big savings and
significantly less cost of products.
ACKNOWLEDGMENT
The part of this research is supported by Ministry of Education, Science and
Technological Development, Republic of Serbia, Grant TR32036.
REFERENCES
[1] TSI Standard Freight wagons of the trans-European conventional rail system
[2] EN 12663:2000 Railway applications Structural requirements of railway vehicle
bodies, European Standard
[3] FEMAP Version 10, User Guide, Siemens Product Lifecycle Management Software
Inc, Munich Germany, 2009
[4] Milovanovi, V., Duni, V., Raki, D., ivkovi, M.(2013): Identification causes of
cracking on the underframe of wagon for containers transportation - Fatigue strength
assessment of wagon welded joints, Engineering Failure Analysis, Vol.31, pp. 118-
131, ISSN 1350-6307
[5] Eurocode 3: Design of steel structures Part 1.9: Fatigue
[6] ivkovi, M., Koji, M., Slavkovi, R., Grujovi, N.(2003) PAK-S Program for FE
structural analysis, Faculty of Mechanical Engineering, University of Kragujevac,
Serbia
22
_____________________________________________________________________________
NUMERICAL ANALYS OF DYNAMIC BEHAVIOR OF BALL BEARING

DEPENDING N EXTERNAL RADIAL FORCE
Radivoje Mitrovi1, Ivana Atanasovska2, Nataa Soldat3
Abstract: Correctness and continuous operation of mechanical systems depends on

correctness of its parts, where bearings are one of the most important. With knowledge
of dynamic behavior of bearings it is possible to identify a huge number of imperfections
related to the rolling bearing and eliminate them on time. Vibration monitoring is
considered to be one of the most important indicators of overall dynamic state of system
and its components. Ball bearing is one of the biggest noise and vibration generator in
constructions.The periodic variable ball bearing stiffness, which occurs as a result of
periodic changes in intensity and direction of contact force and contact deformation
between balls and the bearings rings, is recognized as the main influent factor to the
vibration behavior. Because of that, special attention in study of dynamic behavior of ball
bearing, should be paid to the study of external loads distribution on balls. In order to
understand the impact of different operating parameters to ball bearing vibrations, the
paper contains a detailed analysis of changes in dynamic behavior of bearing depending
on external radial loads.
Key words: ball bearing, stiffness, vibration, dynamic behaviour, Finite Element Analysis
1 INTRODUCTION
Ball bearings, as a widely used machine elements in almost all devices and
machines, have big influence to reliability and continuous operating of mechanical
systems in general. Sudden and unplanned outages due to a defect and required
overhaul damaging technological production process and have negative affect on
production economics. Because of that, any improvement of monitoring of ball bearings
is very important in order to reduce the number of system failure caused by bearing
failures. Vibration monitoring is considered as one of the most important indicators of
overall dynamic state of system and its components. In recent years a huge number of
papers are published on subject of main causes for ball bearings vibration generation [1,
1 Prof.dr Radivoje Mitrovi, University of Belgrade-Faculty of Mechanical Engineering, Belgrade, Serbia,

rmitrovic@mas.bg.ac.rs
2 Dr Ivana Atanasovska, Mathematical Institute of the Serbian Academy of Sciences and Arts, Belgrade,
Serbia, iviatanasov@yahoo.com
3 M.Sc. Nataa Soldat, University of Belgrade-Faculty of Mechanical Engineering, Belgrade, Serbia,
nsoldat@mas.bg.ac.rs
23
Radivoje Mitrovi, Ivana Atanasovska, Nataa Soldat
2, 3, 4, 5, 6].
Aktfluk [7] has investigated the effect of waviness on shaft vibrations. For this
purpose, he has developed a dynamic model with three degrees of freedom to simulate
radial and axial vibration of rigid shaft supported by a pair of angular contact ball
bearings.
Jamadar and others [8] were concerned in analysis of vibration caused by local
damage of ball bearings. Vibrations were observed in the time and frequency range.
Cui and others [9] analyzed the nonlinear vibration model to estimate the size of
damage of ball bearings. They concluded that vibration signals doubled when size of
damage increases.
Mitrovic and others [6] has been developed a procedure for evaluating the impact
of periodic variable stiffness on bearings vibration. Stiffness is considered as a periodic
function with peaks in value whith change of number of balls which are in contact.
Tomovic [10] in his work has been pointed the impact of construction of bearing
on basic parameters of dynamic behavior - the amplitude and frequency of vibration. He
performed a detailed parametric analysis of influence of internal radial clearance, and
the total number of ballsoncondition of labouring correctness and dynamic behavior of
bearing, where special attention is paid to influence of external loads on vibrations
generation.
In order to understand the impact of different operating parameters to ball
bearing vibrations, the paper contains a detailed analysis of changes in dynamic
behavior of bearing depending on external radial loads.
2 ANALYTICAL PROCEDURE FOR DETERMINING OF STIFFNESS CHANGES

Variable stiffness in bearings is considered as one of the major causes of noise
and vibrations in ball bearings, which occurs due to periodic changes in intensity and
direction of contact force and deformation between balls and races. The time varying
radial stiffness can be calculated analytically or by experimental measuring.
Ball bearing assembly can be observed as system of elastic related mass, where
the outer ring is fixed inhousing, and inner ring is rigidly bounded to the shaft. Contact
between balls and races was seen as non-linear springs, which operates only in
compression, simulating contact deformation and resulting force - Figure 1.
Figure 1.Contact between balls and races, [11]
Analysis of vibration changes can be made through a physical model which

consists of deformable shaft mass ms and deformable casing mass mc, which are
associated by bearing. Differential equations of linear vibration set can be written as:
24
Numerical analys of dynamic behavior of ball bearing depending n external radial force
M q (t ) Dq (t ) Cq (t ) F (t ) (1)
If we analyzed only the radial ball bearings, loaded only in radial direction, this
model can be studying as a system with two degrees of freedom, and analytical
equations for obtaining the nonlinear response of vibration then has the form:
c d b (t )x c x s c b (t )x c x s F (t )
mc x (2)
s d b (t )x c x s c b (t )xc x s F (t )
ms x (3)
Further reduction of this system to a single degree of freedom system through
reduced mass of shaft and housing, a case of deformable solid shaft and housingis
obtained, and vibration equation has form:
mred x db (t ) x cb (t ) x F (t )
(4)
3 THE FINITE ELEMENT ANALYSIS (FEA)

Stiffness of machine parts presents the ability of plastic deformation opposition
under workload. The appearance of elastic contact deformation in contact zone between
balls and rings causes a change of ball bearingstiffness, so stiffness increases when
deformation increases, ie. the ability of plastic deformation opposition increases.
Because of the fact that contact elastic deformation is largest on the ball and direction
of external load, ability of plastic deformation opposition in the contact zone is bigger
than in the other, ie. stiffness increases.
Figure 1. A model of chosen bearing 6206
Generally, time variability of contact force intensity is considered as one of the

most important sources of ball bearing vibration. The Finite Element Analysis (FEA) is
used for analysis of contact deformations and forces, as well as stiffness of ball bearing
assembly.SKF 6206 radial ball bearing with 9 balls is chosen for finite element model
developement-table 1. In order to analyze only load changes to dynamic behavior of ball
bearing and avoid possibility of different clearance impact, ball bearing with zero
clearance are taken.Outer ring of bearing is absolutely rigid, while inner ring is limited by
the x-axis, and can move in direction of external loads. External radial load is applied in
centre of global coordinate system of model and has value of 500, 2000 and 5000 N.
The Finite Element Analysis (FEA) is used for calculation of deformation and stress
states of bearing parts. In figure 2 equivalent VonMises stresses for radial load of 5000
N are shown.
25
Table 1.Basic geometric characteristics of bearing SKF 6206

Diameter of outer ring 62 [mm]
Diameter of inner ring 30 [mm]
Width of bearing 16 [mm]
Number of balls 9
Change of radial ball bearing stiffness is determined through total radial
deformation of bearing calculated by FEA. Obtained results for radial ball bearing
stiffness and total radial deformation depending on the external load are put in equation
(4) which represents differential equation of vibration bearing with one degree of
freedom.
Figure 2. VonMises stresses for radial load of 5000 N
Mathematical dependencies are solved and vibrations for loads of 500, 2000
and 5000 N are obtained with commercial software MATLAB, as shown in Figure 3.
26
Numerical analys of dynamic behavior of ball bearing depending n external radial force
Figure 3. Comparative diagrams of vibrations for load of 500, 2000 and 5000 N
4 CONCLUSION
Dynamic behavior is considered as one of the most important performance
characteristics of ball bearings, and because of that research of dynamic behavior of ball
bearing receives enormous importance.Dynamic behavior of ball bearings depends on
facts of disturbing force and dynamic stiffness of system.Thus, characteristics of
dynamic behavior of bearing has been changed by changing properties of disturbing
force or by changing dynamic stiffness of the system.In this regard, the impact of different
levels of load on dynamic behavior of ball bearings is analyzed in this paper.
Furthermore,deformation and stiffness changes as one of the main causes for ball
bearins vibration generation are also analyzed in the paper. The ball bearing type 6206
by SKF was chosen for development of a finite element model. Based on values of total
deformation of bearing assembly, radial stiffness was calculated, and then vibrational
response of bearing assembly was obtained. Results showes the dominant influence of
external load to vibration because the amplitude of bearing vibration increase with
external load increament. Also, for load of 5000 N the significant vibration amplitudes
occure. A similar procedure can be performed for analyze of influence of different
parameters on dynamic behavior and ball bearings vibrations generation.
ACKNOWLEDGMENT
Parts of this research were supported by the Ministry of Education, Science and
Technology of Republic of Serbia through Grant TR 35029 and Grant OI 174001.
Particular gratitude is expressed to the Factory for rolling bearings and cardan shafts
FKL, Temerin, Serbia, for providing the data used in this research.
REFERENCES
[1] Rigaud, E., Perret-Liaudet, J. (2003). Experiments and numerical results on
nonlinear vibrations of an impacting Hertzian contact. Part 1: harmonic
excitation.Journal of Sound and Vibration, vol. 265, p.p. 289307.
27
[2] Yamamoto, T. (1955). On the vibration of a shaft supported by bearing having radial
clearance. Transactions of the Japanese Society of Mechanical Engineering, vol.21,
p.p. 182-192.
[3] Tandon, N., Choudhury A. (1999). A review of vibration and a
cousticmeasurementmethods for the detection of defects in rolling element bearings,
Tribology International, vol. 32, p.p. 469480.
[4] Sopanen, J., Mikola, A. (2003). Dynamic model of a deep-groove ball bearing
including localized and distributed defectspart1: theory. Proceedings of the
Institution of Mechanical Engineers KJournal of Multi-body Dynamics, vol. 217,
p.p. 201211.
[5] Sopanen, J., Mikola, A. (2003). Dynamic model of a deep-groove ball bearing
including localized and distributed defectspart1: theory.Proceedings of the
Institution of Mechanical Engineers KJournal of Multi-body Dynamics, vol. 217,
p.p. 201211.
[6] Mitrovi, R., Soldat, N., Atanasovska, I. (2014). Dynamic Behavior of Radial Ball
Bearing due to the Periodic Variable Stiffness, 2nd International Scientific
Conference COMETAa 2014, Jahorina, B&H, p.p. 389396.
[7] Aktfluk, N. (1999). The effect of waviness on vibrations associated with ball
bearings.ASME Journal of Trihology, vol.121, p.p. 667-676.
[8] Jamadar, I.M., Vakharia, D.P. (2016). A novel approach integrating dimensional
analysis and neural networks for the detection of localized faults in roller
bearings.Procedia Technology, vol. 94, p.p. 177185.
[9] Cui, L., Zhang, Y., Zhang, F., Zhang, J., Lee, S. (2016). Vibration response
mechanism of faulty outer race rolling element bearings for quantitative
analysis.Journal of Sound and Vibration, vol. 364, p.p. 6776.
[10] Tomovi, R. (2009).Istraivanje uticaja konstrukcionih parametara kotrljajnih
leajeva na stanje njihove radne ispravnosti, Doktorska disertacija, Mainski
fakultet, Ni.
[11] Liu, J., Shao, Y., Zhu, W.D. (2015). A New Model for the Relationship Between
Vibration Characteristics Caused by the Time-Varying Contact Stiffness of a Deep
Groove Ball Bearing and Defect Sizes.Journal of Tribology, vol. 137, p.p. 031101/1-
031101/15.
28
_____________________________________________________________________________
DINAMIKI MODEL KRUTOG ROTORA U KOTRLJANOM LEAJU

Radoslav Tomovi1
Rezime: U ovome radu je predloen matematiki model za simulaciju i analizu

dinamikog ponaanja krutog rotora u kotrljajnom leaju. Diferencijalne jednaine
kretanja su dobijene primjenom Langraeovih jednaina. U matematikoj formulaciji
kontakt izmeu kuglica i prstenova je posmatran kao nelinearan problem, ija krutost je
dobijena primjenom Hertzove teorije elastinog kontakta. Na osnovu matematikog
modela razvijen je odgovarajui raunarski program.
Kljune rijei: Dinamiki model, Kotrljajni leaj, Nelinearni kontakt, Vibracije
DYNAMIC MODEL OF RIGID ROTOR IN ROLLING BEARING

Abstract: In this paper is represented an analytical model for a simulation and an analysis
of a dynamic behaviour of rigid rotor in rolling bearing. The governing differential
equations of motion are obtained by using Lagrange's equations. In the analytical
formulation the contacts between the balls and races are considered as non-linear
springs, whose stiffness are obtained by using Hertzian elastic contact deformation
theory. A computer program is developed based on the mathematical model.
Key words: Dynamic model, Rolling bearing, Non-linear contact, Vibrations
1 UVOD
Kotrljajni leajevi su visoko precizni mainski elementi, niske cijene kotanja, koji
se koriste kod svih vrsta rotacionih maina. U mnogim sluajevima se smatraju kritinim
komponentama, od ijih karakteristika zavisi stanje cjelokupne maine. Krutost, tanost
obrtanja i karakteristike vibracija osovina koje se obru velikim brzinama u velikoj mjeri
zavise od kotrljajnih leajeva na koje su osovine oslonjene. Ako imamo potrebu za
kontrolom vibracija kod rotacionih sistema ili za prenoenjem obtrnog momenta sa
velikom preciznou ili mogunou optikog pozicioniranja rotora i sl., kao osnov
moramo izraditi efikasan matematiki model za predvianje dinamikog odziva rotora
oslonjenog na kotrljajne leajeve.
Tokom eksploatacije kotrljajni leajevi generiu poremeajne sile, koje izazivaju
vibraciono kretanje sastavnih dijelova leaja sa razliitim amplitudama i na razliitim
frekvencijama oscilovanja. Analiza dinamikog ponaanja kotrljajnog leaja je veoma
1 Prof. dr Radoslav Tomovi, Podgorica, Univerzitet Crne gore, Mainski fakultet, radoslav@ac.me
29
Radoslav Tomovi
bitna za predvianje vibracionog odziva rotacionog sistema.

U ovome radu je napravljen model za simulaciju dinamikog ponaanja
kotrljajnog leaja. Cilj modela je da omogui efikasno sagledavanje i istraivanje tanosti
obrtanja i karakteristika vibracija krutog rotora oslonjenog u kotrljajnom leaju usled
razliitih uticaja, kao to su parametri konstrukcije kotrljajnog leaja (tip leaja, unutranji
radijalni zazor, hrapavost radnih povrina is l.), uslovi optereenja, brzina obrtanja rotora
i sl. U matematikoj formulaciji razmatrani model je dvodimenzionalan. Kontakt izmeu
kuglica i prstenova posmatran je kao nelinearan problem, ija krutost je dobijena
primjenom Hertzove teorije elastinog kontakta. Diferencijalne jednaine kretanja su
dobijene primjenom Langraeovih jednaina.
2 FORMULACIJA PROBLEMA
ematski prikaz kotrljajnog leaja dat je na Slici 1.a). Sklop leaja je izmodeliran
kao sistem elastino povezanih masa, kod koga je spoljanji prsten leaja fiksiran u
krutom osloncu, a unutranji prsten je vrsto vezan za vratilo. Poto je cilj izuavanje
dinamikog ponaanja rotora, u istraivanju je usvojeno da je spoljni prsten leaja
nepokretan, to se moe smatrati ispravnim, ako uzmemo da je unutranji prsten vrsto
vezan u krutom osloncu. To nam omoguuje da nepokretni koordinatni sistem XOY
veemo za centar spoljanjeg prstena.
a) b)
Slika 1. ematski prikaz kotrljajnog leaja modeliranog kao sistem
elastino povezanih masa
Za proraun elastinih deformacija i nelinearnog kontaktnog pritiska izmeu

prstenova leaja i kuglica primijenjena je Klasina teorija kontaktnih napona i
deformacija dva elastina tijela sa dodirom u taki. Nju je 1880. godine razvio Hertz. U
matematikom modelu veze izmeu prstenova leaja i kotrljajnih tijela su izmodelirane
nelinearanim elastinim kontaktom, kao to je to prikazano na slici Slici 1.b). Hertzove
kontaktne sile nastaju samo u prisustvu kontaktnih deformacija, tj. odgovarajua
elastina sila se generie samo kada je trenutna duina opruge kraa od njene
nenapregnute duine. U sluaju kada su prsten i kuglice razdvojeni elastina sila je
jednaka 0.
30
Dinamiki model krutog rotora u kotrljajnom leaju
2.1 Poetne pretpostavke
Kotrljajni leaj od koga se zahtijeva velika tanost i pouzdanost u radu je veoma

sloen objekat za modeliranje. Razlog za to su statika neodreenost i nelinearnost
meusobnih veza izmeu elemenata leaja, sloene tribomehanike pojave koje se
javljaju pri radu leaja, kao i tekoe u matematikom opisivanju ponaanja elemenata
uleitenja. Zbog toga su za jednostavan i uproen matematiki model, u ovome radu
uvedene sledee pretpostavke:
Deformacije izmeu kotrljajnih tijela i prstenova se nalaze u zoni elastinosti i
odreuju se prema Hertzovoj teoriji elastinosti.
Kotrljajna tijela, unutranji prsten i rotor imaju pomjeranje samo u radijalnoj ravni
leaja, dok se spoljanji prsten leaja smatra apsolutno nepokretnim.
Ugaona brzina kaveza je konstantna.
Kotrljajna tijela su idealnih dimenzija i oblika i homogenog su materijala.
Svi dijelovi leaja i rotora su kruti, tj. nema savijanja. Deformacije elemenata
leaja su lokalne i javljaju se samo u zoni kontakta.
Leajevi su simulirani da rade u izotermikom stanju.
Zanemareno je proklizavanje kotrljajnih tijela, kao i kratkotrajni prestanak
kontakta izmeu kotrljajnih tijela i prstenova. Zbog savrenog kotrljanja
kotrljajnih tijela po povrinama prstenova, take dodira svih kotrljajnih tijela sa
prstenovima e imati identine brzine.
Priguenje u kotrljajnom leaju je zanemarljivo. Priguenje je prisutno zbog sila
trenja i prisustva maziva. Procjena priguenja je vrlo teka zbog dominantnog
hidrodinamikog podmazivanja u leaju.
Kavez obezbjeuje konstantno ugaono rastojanje () izmeu kotrljajnih tijela, pa
nema meusobnog uticaja izmeu kotrljajnih tijela. Ugaono rastojanje se dobija
pomou jednaine:
2
, (1)
Z
gdje je Z broj kotrljajnih tijela.
3 DINAMIKI MODEL KRUTOG ROTORA U KOTRLJAJNOM LEAJU

Jednaine kretanja koje opisuju dinamiko ponaanje mehanikog sistema
kotrljajnog leaja mogu biti izvedene pomou Langraeovih jednaina za sistem
nezavisnih generalizovanih koordinata, koje glase:
d T T V
Q, (2)
dt q q q
gdje su T, V, q, Q ukupna kinetika i potencijalna energija, te vektori generalizovanih
koordinata i generalizovanog optereenja, respektivno.
Kinetika i potencijalna energija dobijaju se kao zbir pojedinanih energija
elemenata uleitenja (kotrljajnih tijela, unutranjeg prstena i rotora). Poto se spoljanji
prsten leaja smatra apsolutno nepokretnim njegova kinetika i potencijalna energija je
jednaka 0.
Ukupna kinetika energija (T) sistema rotor-leaj jednaka je sumi kinetikih
energija unutranjeg prstena leaja (Ti) i rotora (Tr), prema jednaini:
31
Radoslav Tomovi
Z 1
T Tbj Ti Tr . (3)
j 0
Ukupna potencijalna energija (V) je jednaka sumi potencijalnih energija

kotrljajnih tijela (Vb), unutranjeg prstena (Vi), rotora (Vr) i potencijalne energije nastale
usled nelinearnog elastinog kontakta izmeu kuglica i prstenova leaja(Vs).
Z 1
V Vbj Vi Vr Vs . (4)
j 0
Potencijalna energija usled nelinearnog elastinog kontakta izmeu kuglica i

prstenova (Vs), nastaje usled deformacija kuglica i prstenova. Ove deformacije se
deavaju prema Hertzovoj kontaktnoj teoriji.
3.1 Energija unutranjeg prstena i rotora

Razmatranje dinamikog ponaanja rotora se uzima uz pretpostavku da se
centar rotora poklapa sa centrom unutranjeg prstena leaja. Takoe, poto je unutranji
prsten leaja vrsto vezan za rotor, kordinate koje definiu poloaj rotora su identine sa
koordinatama unutranjeg prstena. Otuda izraze za kinetiku i potencijalnu energiju
rotora i unutranjeg prstena je mogue posmatrati zajedno, kao:
Ti
1
2
2

mi mr xi2 y i2 1 J i J r 2 , (5)
Ovdje su mi, mr, Ji, Jr mase i momenti inercije unutranjeg prstena i rotora u
odnosu na osu koja prolazi kroz centar prstena, a ugaona brzina obrtanja rotora.
Potencijalna energija unutranjeg prstena i rotora moe se pisati kao:
Vi (mi mr ) g yi (6)
3.2 Potencijalna energija usled nelinearnih kontaktnih deformacija

Kontakt izmeu kotrljajnih tijela i prstenova se tretira kao nelinearan i njegova
krutost se prouava na osnovu Hertzove teorije elastinosti. Usled elastinih deformacija
u kontaktu izmeu kotrljajnih tijela i prstenova javljaju se elestine sile, ije je intezitet
vremenski zavisan od poloaja kotrljajnih tijela na stazama kotrljanja.
Prema Hertzovoj kontaktnoj teoriji, intezitet kontaktnih sila izmeu j-te kuglice i
prstena leaja moe se dobiti prema sledeoj jednaini:
F j K 3j , (7)
Ovdje je K nelinearni koeficijent krutosti usled Hertzovog kontaktnog efekta, koji

se dobija preko koeficijenata kontaktne krutosti i izmeu kotrljajnih tijela i odgovarajuih
prstenova leaja (unutranjeg Ki i spoljanjeg Ko) prema jednaini:
2

2 2
3 X
1 3 1 3
K (8)
i o
K K

32
Koeficijenti Ki i Ko zavise od unutranje geometrije leaja, Jangovog modula

elastinosti i Poissonovog koeficijenta materijala spregnutih dijelova leaja [1, 5].
Prema definiciji, potencijalna energija je jednaka radu koji ostvari sila na
odgovarajuem pomjeranju [3]. Prema tome, potencijalna energija nastala usled dejstva
elastinih kontaktnih deformacija u kontaktu pojedinanog kotrljajnog tijela sa
prstenovima leaja e biti:
2
Vsj F j d j K 3j d j K j2 j (9)
5
Ukupna potencijalna energija usled nelinearnih kontaktnih deformacija dobija se
kao zbir pojedinanih energija kotrljajnih tijela leaja:
Z 1 Z 1
2
Vs Vsj K j2 j (10)
j 0 5 j 0
Ovdje, j predstavlja ukupnu kontaktnu deformaciju spregnutih dijelova leaja na

mjestu j-te kuglice, koja se dobija kao zbir deformacija u kontaktu kuglice sa unutranjim
odnosno spoljanjim prstenom leaja:
j ij oj . (11)
Kontaktne deformacije na mjestu j-tog kotrljajnog tijela e se javiti samo kada je

rastojanje izmeu taka Aj i Bj u kojima su prstenovi leaja u kontaktu sa j-tim kotrljajnim
tijelom manje od prenika kotrljajnih tijela db (Slika 2.), tj. kada je:
l Aj B j d b . (12)
U tom sluaju se izmeu elementa u kontaktu uspostavlja dodirni pritisak i

obnavlja se dejstvo sile. U suprotnom sluaja izmeu elementa u kontaktu ne postoji
dodirni pritisak i elastina sila je jednaka nuli.
Slika 2. Meusobni poloaj prstenova leaja i deformacije kotrljajnih tijela
Rastojanje izmeu kontaktnih taaka moemo dobiti iz sljedee jednaine:
33
Radoslav Tomovi
l Aj B j x Bj x Aj y
2
Bj y Aj
2
. (13)
Koordinate kontaktnih taaka Aj i Bj dobijamo na osnovu sledeih izraza:
x A j xi ri cos 'j , (14)
y A j y i ri sin 'j , (15)
x B j ro cos j , (16)
y B j ro sin j . (17)
Za vrijednosti unutranjeg radijalnog zazora koje se javljaju u eksploataciji

leajeva moe se smatrati zanemarljivom razlika izmeu uglova j i j [5]. Ako tu
injenicu uzmemo u obzir, ubacivanjem jednaina 14-17 u jednainu 13, nakon
sreivanja dobija se:
lAj B j ro ri 2 xi2 yi2 2ro ri xi cos j yi sin j (18)
Ukupnu kontaktnu deformaciju spregnutih dijelova leaja na mjestu j-te kuglice

j, dobija se ako se rastojanja lAB oduzme od prenika kotrljajnog tijela, tj.:
j db l A B j j
(19)
Ako je rezultat vei od nule na mjestu kontakta usled elastinih deformacija e

se generisati kontaktna sila prema jednaini (7). U suprotnom intezitet kontaktne sile e
biti jednak nuli.
4 JEDNAINE KRETANJA KRUTOG ROTORA U KOTRLJAJNOM LEAJU

Kada izraze za ukupnu kinetiku i potencijalnu energiju diferenciraju po
generalizovanim koordinatama xi i yi dobijaju se jednaine kretanja rotora u leaju.
Za generalisanu koordinatu xi jednaina kretanja ima oblik:
Z 1 j
mi mr xi K p j j j Fu cost (20)
j 0 xi
Za indeks pj se uzima da je:

1 za l A j B j d b

pj (21)
0 za l A j B j d b

to znai, ako je lAjBj<db, prisutne su kontaktne deformacije na mjestu dodira
prstenova leaja i kotrljajnog tijela i kotrljajni tijelo je pod optereenjem. U sluaju da je
lAjBj>db ili lAjBj=db, kotrljajno tijelo nije u zoni optereenja i elastina reakciona sila je
jednaka 0.
U jednaini (20) parcijalni izvod ukupne elastine deformacije j-tog kotrljajnog
tijela j po generalisanoj koordinati xi je jednak:
34
j ro ri cos j xi
(22)
xi ro ri 2 xi2 yi2 2ro ri xi cos j yi sin j
Za generalisanu koordinatu yi jednaina kretanja ima oblik:
Z 1 j
mi mr yi mi mr g yi K p j j j W Fu cost (23)
j 0 yi
Indeks pj uzima vrijednosti prema jednaini (21).
Parcijalni izvod ukupne elastine deformacije j-tog kotrljajnog tijela j po
generalisanoj koordinati yi se dobija prema jednaini:
j ro ri sin j yi
(24)
yi ro ri xi2 yi2 2ro ri xi cos j yi sin j
2
U sistemu jednaina (W) predstavlja spoljanje radijalno optereenje koje djeluje

na rotor, a (Fu) optereenje od debalansa.
5 NUMERIKA SIMULACIJA DOBIJENOG MODELA

Jednaine kretanja krutog rotora u kotrljajnom leaju definisane izrazima (20) i
(23), predstavljaju sistem dvije nelinearne diferencijalne jednaina drugoga reda.
Eksplicitna rjeenja ovakvog problema mogue je dobiti samo u posebnim sluajevima.
Zbog toga se ovi problemi uglavnom rjeavaju numeriki. Jedna od univerzalnih i
efikasnih metoda koja se danas iroko koristi za rjeavanju ovakvih problema je metoda
mree. Ova metoda je primijenjena u ovome sluaju, kako bi se rjeavanjem sistema
jednaina (20) i (23) dobili podaci o pomjeranju centra rotora u pravcu X i Y ose, kao i
trajektorija (orbita) centra rotora [6].
Za analizu je koriten radijalni kotrljajni leaj ije su osnovne karakteristike koje
su koritene u analizi prikazane u Tabeli 1.
Tabela 1. Osnovne karakteristike konstrukcije leaja

Nazivni prenik (prenik provrta)
d=30 mm
Spoljanji prenik
D=62 mm
irina leaja
B=16 mm
Ukupan broj kuglica
z=9
Prenik kuglice
db=9,525 mm
Ugaono rastojanje izmeu kuglica
=40o
Prenik unutranje staze kotrljanja
di=36,475 mm
Prenik spoljanje staze kotrljanja
do=55,525 mm
Prenik podeone krunice kaveza
dc=46 mm
Radijus ljeba unutranjeg prstena
rti=4,86 mm
Radijus ljeba spoljanjeg prstena
rto=5,05 mm
Masa kuglica
mb=3,55g
Masa unutranjeg prstena
mi=42,46g mr=2kg
Masa rotora
e=20 m
Unutranji radijalni zazor
Na Slici 4. su prikazani rezultati numerike analize za brzine obrtanja rotora

n=1476 o/min, i spoljanje radijalno optereenje od W=10 N. Na slikama prikazan je
uticaj koraka t na rezultate numerike analize. Pravilan izbor koraka je vrlo vaan za
efikasno i kratkotrajno numeriko raunanje. to je vei korak t, bre je raunanje.
35
Radoslav Tomovi
Meutim, vei korak znai i manju preciznost dobijenih rezultata. Sa slika se vidi kako
se mijenja preciznost rezultata za razliite vrijednostima koraka t.
-1.315 -1.315
-1.32 -1.32
-1.325
y [1e-3 mm]
-1.325
y [1e-3 mm]
-1.33 -1.33
-1.335 -1.335
-1.34 -1.34
-0.04 -0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04 -0.05 -0.04 -0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04 0.05
x [1e-3 mm] x [1e-3 mm]
-1.315
-1.315
-1.32 -1.32
-1.325
y [1e-3 mm]
y [1e-3 mm] -1.325
-1.33 -1.33
-1.335 -1.335
-1.34 -1.34
-0.05 -0.04 -0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04 0.05 -0.05 -0.04 -0.03 -0.02 -0.01 0 0.01 0.02 0.03 0.04 0.05
x [1e-3 mm] x [1e-3 mm]
Slika 4. Oblici trajektorije centra rotora za razliite vrijednosti koraka t,

a) t=3.310-4 s, b) t=2.010-4 s, c) t=5.010-5 s, i d) t=1.010-5 s [6]
6 ZAKLJUAK
Dinamiki model kotrljajnog leaja razvijen u ovome radu predstavlja jedan
moan alat, pomou kojega je mogue izvriti analizu uticaja razliitih parametara na
dinamiko ponaanje i generisanje buke i vibracija kod kotrljajnih leajeva, kao to su:
Uticaji konstrukcije leaja na dinamiko ponaanje pri radu,
Uticaj tehnologije izrade leaja na njegov kvalitet i dinamiko ponaanje u radu,
Uticaji montae leaja na dinamiko ponaanje pri radu,
Uticaj uslova eksploatacije leaja na kvalitet ispunjena njegove funkcije i
dinamiko ponaanje leaja u radu.
LITERATURA
[1] Harris, T.A. (1984). Rolling Bearing Analysis, John Wiley and Sons, New York
[2] Rusov, L. (1985). Mehanika II Kinematika, Nauna knjiga, Beograd
[3] Vujanovi, D. (1976). Dinamika, Nauna knjiga, Beograd
[4] Rakovi, D. (1965). Teorija oscilacija, Nauna knjiga, Beograd
[5] Ristivojevi, M., Mitrovi, R. (2002). Raspodjela optereenja-zupasti parovi i
kotrljajni leajevi, Monografija, Mainski fakultet u Beogradu
[6] Jovanovic, J., Tomovi, R. (2014). Analysis of dynamic behaviour of rotor-bearing
system, Proc IMechE Part C: J. Mechanical Engineering Science, Vol. 228(12), pp.
2141-2161
[7] Tomovic, R., Miltenovic, V., Bulatovic, R. (2006). Dynamic model of rolling bearing,
The 2nd int. conf. Power Transmissions 2006, pp. 215-220., Novi Sad
36
_____________________________________________________________________________
MECHANICAL BUCKLING OF DOUBLE-LAYERED GRAPHENE

SHEETS EMBEDDED IN AN ELASTIC MEDIUM USING A
NONLOCAL NEW FIRST-ORDER DEFORMATION THEORY
Neboja Radi1, Dejan Jeremi2
Abstract: This paper investigates the buckling behavior of double-layered graphene

sheets (GSs) with vaious boundary conditions. It is assumed that two graphene sheets
are bonded by an internal elastic medium and surrounded by external elastic fundation.
Governing equations are derived based on new first-order sher deformation theory
(NFSDT), while the expressions for the buckling load are given in explicit form for a
graphene sheets with all edges simply supported (SSSS) and all edges
clamped(CCCC). The equations of equilibrium of the nonlocal model have been derived
by using the vertical displacement method. Two characteristic types of buckling are
considered (in-phase buckling and out-of-phase buckling). The influence of small scale
coefficient, aspect ratio, stiffness of internal elastic medium and external elastic
fundation on the nonlocal buckling load is explained.
Key words: Analytical modelling, Buckling, Nano-structures
1 INTRODUCTION
The double- nanoplate systems (DNPS) can be found in nanocomposites
structures such as multiple GSs dispersed in a polymer matrix. DNPS consist of two GSs
bonded by an elastic medium, e.g. polymer resin.The internal elastic medium between
the two layers of GSs is modelled in the Winkler model. The surrounding elastic medium
is modelled by the two-parameter Pasternak-type foundation.The first parameter
presents normal pressure, while the other presents the influence of shear stress.
Following the production of carbon nanotubes (CNTs) [1] and GSs [2] these two
nanostructural elements, due to their extraordinary mechanical, chemical, electronic and
thermal conductivity properties [3-5] have very often been used as components in
microelectro-mechanical systems (MEMS) and nano electromechanical systems
(NEMS). Composite materials are one of the most significant applications of multilayer
nanoplate structures. Every potential application of GSs requires very good knowledge
of their mechanical behaviour. Because of the very small dimensions of nanostructure
1 Assoc. Prof. Neboja Radi, University of East Sarajevo, Faculty of Mechanical Engineering, East Sarajevo,
BiH, nesor67@yahoo.com (CA)
2 Ass. M.Sc. ,Dejan Jeremi, University of East Sarajevo, Faculty of Mechanical Engineering, East Sarajevo,
BiH, dejan.jeremic@yahoo.com
37
Neboja Radi, Dejan Jeremi
elements, it is very difficult to perform experimental research. Also, molecular dynamic

(MD) simulation is highly computationally expensive in the analysis of GSs with large
numbers of atoms. Behfar and Naghdabadi [6] used classical elasticity theory to
investigate the vibration behaviour of orthotropic multi-layered graphene sheets
embedded in an elastic medium.Liew et al. [7] investigated the vibrations of isotropic
multi-layered GSs embedded in an elastic matrix using a classical continuum model.
Classical elasticity theory is a scale free theory and cannot handle suchsmall effects. As
a result, the mechanical behaviour of the nanostructures cannot be described by
classical elasticity theory successfully. This made Eringen formulate nonlocal elasticity
theory [8] as a modification of the classical elasticity theory. In Eringen's nonlocal
elasticity theory the small scale effects have been taken into account assuming that the
stress tensor in the observed point depends on the deformation tensor in all other points
of the entire domain occupied by the material. In the classical elasticity theory, the state
of stress in the observed point depends on the state of deformation in that point only.
Peddiesson et al. [9] were the first to apply the theory of nonlocal elasticity to the analysis
of static deformations of Euler-Bernoulli nanobeams. Sudak [10] applied nonlocal
continuum mechanics to the buckling analysis of multiwalled CNTs. Duan and Wang [11]
were the first to formulate thenonlocal continuum plate model while researching the
influence of small scale parameter on the bending of circular nanoplates. Sakhaee-
Pouret al. [12] applied the nonlocal continuum plate model for the vibration analysis of
single-layered GSs.
Recently, by applying the nonlocal continuum plate model, a number of papers
concerned with the analysis of the mechanical behaviour of double-nanoplates systems
have been published. Murmu and Adhikari [13] studied the nonlocal vibration of bonded
double-nanoplate systems. Murmu et al. [14] investigated nonlocal buckling of double-
nanoplate-systems under biaxial compression. Pouresmaeeli et al. [15] presented the
vibration of double-orthotropic nanoplates embedded in an elastic medium. The external
medium was modelled as Winkler type foundation. Recently, Radi and Jeremi [16]
studied the thermal buckling of double-layered grapheme sheets embedded in
Pasternak elastic medium using nonlocal new first-order shear deformation theory. Their
work drew from Kirchhoffs nonlocal plate theory.
Pradhan and Phadikar [17] reformulated the classical plate theory (CLPT) and
first-order shear deformation theory (FSDT) of plates by using Eringens nonlocal
differential constitutive relation. The derived equations were solved for the case of simply
supported boundary conditions by applying Naviers approach. Pradhan [18]
analyzedthe buckling behaviour of grapheneby using the reformulated higher- order
shear deformation theory (HSDT). Recently, Hashemi and Samaei [19] have analysed
the buckling behaviour of micro/nanoscale plates based on nonlocal first-order shear
deformation theory (FSDT). Samaei et al. [20] also used nonlocal FSDT to analyse the
buckling behaviour of a single-layered graphene sheet embedded in an elastic medium.
Thai et al. [21] investigated the bending, buckling and free vibration of functionally
graded sandwich plates under various boundary conditions using a new first-order shear
deformation theory (NFSDT). A verification study demonstrated that the NFSDT was
more accurate in relation to FSDTand comparabletohigher-order shear deformation
theory (HSDT). Besides that, NFSDT is significantly simpler compared to FSDT and
HSDT because of its lower number of unknown parameters.
In this paper, using Eringens nonlocal differential constitutive relation local
NFSDT has been reformulated and used for the analysis of nonlocal buckling load of
double-layered GSs under various boundary conditions. Two different boundary
conditions have been discussed in the analysis of the nonlocal buckling load of double-
layered GSs.
38
Nonlocal buckling of double-layered graphene sheets embedded in an elastic medium using a
nonlocal new first-order shear deformation theory
2 THEORETICAL FORMULATION
Double-layered GSs are surrounded by an external elastic medium. For

mathematical modelling, the connection between the two layers of GSs is modelled with
identical vertical springs whose stiffnessis C . The external medium is modelled as a
Pasternak type foundation, which includes Winkler modulus parameter KW and shear
modulus parameter KG of the external elastic medium. Both GSs layers have the length
LX , width Ly , and thickness h. We will associate the nanoplates with the coordinate
system in which the x- and y-axes are located in the mid plane, (z=0), while the
coordinate beginning is placed in the corner of the nanoplate, as shown in Fig. 1.
Figure 1. Double-layered graphene sheet embedded in an elastic medium.
2.1 Nonlocal elasticity theory for isotropic nanoplate

Nonlocal elastic theory assumes that the stress state at a reference point x in an
elastic continuum depends not only on strain at that point but also on the strain states at
all other points x'on the domain. The basic equations for a linear, homogenous, isotropic,
nonlocal elastic body are given by Ref. [20]. The components of nonlocal stress tensor
ij ( x ) are given in the form of the following expression:
V

ij ( x) ( x ' x , ) ijL ( x ')dV ( x ') i, j x, y, z (1)
where ijL ( x ') is the classical or local stress tensor at any point x' in the body, kernel
function ( x ' x , ) represents the nonlocal modulus and it defines the influence of
deformation in the point x ' to the stress in the observed point x , e0 a / is a material
constant that depends on the internal characteristic length a (e.g.lattice parameter,
granular size, distance between C-C bonds) and external characteristic length ( e.g.
crack length, wave length); and e0 is the constant which depends on the type of material
and it is determined independently for each material, on the basis of experimental results
or some other valid method. A classical or local stress tensor at any point x ' can be
expressed via the deformation tensor by the generalized Hooks law:
ijL ( x ') Cijkl kl ( x ') (2)
39
where Cijkl is the fourth-order elasticity tensor and kl ( x ') is the strain tensor.
The linear diferential operator is an aproximate model of the kernel obtained by

matching the Fourier transforms of the kernel in the wave number space with the
dispersion curves of lattice dynamics. It can be shown that the linear operator operator
for the two-dimensional case has the following form:
1 e0 a 2
2
(3)
where 2 is the Laplacian operator which is defined by 2 ( 2 / x2 2 / y 2 ) , e0 a is
the nonlocal parameter.
2.2 The generalized displacement field

The displacement field for the new FSDT is given by

u x ( x, y , z ) u ( x, y ) z (4)
x

u y ( x, y, z ) v( x, y) z (5)
y
uz ( x, y, z) w( x, y) (6)
where u , v, w, x and y are unknown displacement functions. Nonlocal

constitutive equations for one nanoplate have the following form:
xx xx C11 C12 0 0 0

yy yy C21 C22 0 0 0
2
xy (e0 a ) xy 0
2
0 C66 0 0 (7)
0 C55 0
yz yz
0 0

0 0 0 0 C44
xz xz
where elastic constants Cij depend on Youngs modulus E and Poissons ratio
E E E
C11 C22 , C12 C21 , C44 C55 C66 (8)
1 2 1 2
2(1 )
3 EQUATIONS OF EQUILIBRIUM
Equations of equilibrium have been derived by using the virtual displacement
method, which presents a special case of Hamilton's principle for static problems.
According to the principle of virtual displacement, the first variation of potential energy
of the system must be equal to zero
U V 0 (9)
where U is virtual strain energy and V is the virtual work done by the applied forces
of the external elastic foundation, internal elastic medium, and in-plane forces.
In order to solve the problem of the buckling of one nanoplate by applying
NFSDT we need to solve the system of two partial differential equations (equations that
correspond to the displacements due to bending w1 , 1 ):
40
w1 : K s Gh 2 (w1 1 ) 1 (e0 a) 2 2 KW w1 K G 2 w1 C (w2 w1 ) N cr 2 w1 0 (10)
1 : D41 Ks Gh2 w1 1 0 (11)
Eqs. (10) and (11) are related to graphene sheet 1. In the same way the equations of
equilibrium for graphene sheet 2 are obtained:
w2 : K s Gh 2 (w2 2 ) 1 (e0 a) 2 2 KW w2 K G 2 w2 C (w1 w2 ) N cr 2 w2 0 (12)
2 : D42 Ks Gh2 w2 2 0 (13)
In Ref. [21], the use of shear correction factor has been avoided, so that
transverse shear stiffness exists in equations of equilibrium, which is calculated directly
from the equations of equilibrium via the transverse shear stress. In the case of
nanoplates, it can be proved easily that the expression for the transverse shear stiffness
is reduced to the value K s Gh which occurs in the FSDT equations and it has been used
in Eqs. (10)-(13).
4 ANALYTICAL BUCKLING SOLUTIONS

Two different ways of nanoplate support will be explored in this paper. The edge
of a nanoplate in our cases can be clamped (C) or simply supported (S). For NFSDT
these two boundary conditions are mathematically expressed in the following ways:
clamped edge (C)
i i
wi 0 , at x=0,Lx
x y
i i
wi 0 , at y=0,Ly i=1,2; (14)
x y
and simply supported edge (S)

i
M xxi wi 0 , at x=0,Lx
y
i
M yyi wi 0 , at y=0,Ly i=1,2; (15)
x
The solution of the system of partial differential Eqs. (10-13) under boundary conditions
which are defined in Eqs. (14-15), can be obtained if we assume the displacement
functions in the following form
w1 ( x, y ) W1mn X ( x)Y ( y )
1 ( x, y ) 1mn X ( x)Y ( y )
(16)
w2 ( x, y ) W2 mn X ( x)Y ( y )
2 ( x, y ) 2 mn X ( x)Y ( y )
where (W1mn , 1mn ,W2mn , 2 mn ) are the unknown coefficients.
41
The functions X ( x ) and Y ( y ) are given in Table 1. and suggested in Ref. [21]
and [22] so that they satisfy different boundary conditions in Eqs. (14)-(15).
Table 1. The admissible functions X(x) and Y(y).

Boundary conditions The functions X(x) and Y(y)
Notation x=0 y=0 X=Lx Y=Ly X(x) Y(y)
SSSS S S S S sin( x) sin( y )
CCCC C C C C sin 2 ( x) sin 2 ( y )
In that, m LX and n Ly , m and n are the half wave numbers.

Substituting Eq. (16) into Eqs. (10-13) the analytical solution can be obtained from
A11 A12 A13 0 W1mn

A
21 A22 0 0 1mn
A31 0 (17)
0 A33 A34 W2 mn

0 0 A43 A44 2 mn
In this section by solving Eq.(17), the values of the critical buckling load will be
determined for two different support conditions.
By solving Eq. (17) the values of critical buckling load obtained for two characteristic
buckling cases.
K s GhDV1V2 KW V1 V3 K G V1 V2 DV2 K s GhV1
N cr1 (18)
V1 V2 DV2 K s GhV1
K s GhDV1V2 ( KW 2C ) V1 V3 K G V1 V2 DV2 K s GhV1
N cr 2 (19)
V1 V2 DV2 K s GhV1
The equations (18) and (19) are valid in the case of SSSS and CCCC and the mark
(e0 a ) 2 has been used.
The values for V1 , V2 ,and V3 depend on the type of nanoplates support:
a) SSSS nanoplates
Lx Ly Lx Ly Lx Ly
2, 2 ,
2
V1 2
V2 2
V3
4 4 4
b) CCCC nanoplates
3Lx Ly Lx Ly 3 4 3 4 9 Lx L y
V1
16
2
2, V2
2 2
,
2 2
2
V3
64
In the case of in-phase buckling, the two nanoplates buckled synchronously (
w1 w2 ). In the case of out-of-phase buckling, the two nanoplates buckled
asynchronously ( w1 w2 , w1 w2 ). It is known that in the case of in-phase buckling, the
critical buckling load does not depend on the stiffness modulus C , which is different from
out-of-phase buckling where the critical buckling load is proportional to the double value
of the stiffness parameter C .
42
5 NUMERICAL RESULTS
This section shows a few numerical examples of the buckling behaviour of
double-layered GSs, that have been embedded in a Pasternak elastic medium. The
mechanical properties of GSs are the same as in Ref. [25]. Although the value of the
nonlocal parameter e0 a is not accurately known for the GSs, it can be seen from the
available literature that its most often value for GSs and CNTsis e0 a 0 2 nm . The
nonlocal parameter has been taken in the same interval in Ref. [13,25,26].
The various non-dimensional parameters used are
KW L4x K G L2x CL4x

KWN , K GN , CN
D D D
Table 2. Validation of the results for critical buckling load for single-layered graphene
sheets for all edges simply supported obtained from molecular dynamic simulation.
Lx Ly (nm) MD simulation (nN/nm) Present Study (nN/nm)
4.99 1.0837 1.0662
10.77 0.4331 0.4320
18.51 0.1714 0.1740
26.22 0.0889 0.0911
33.85 0.0554 0.0558
41.78 0.0372 0.0370
In Table 2, the comparison of results is given for critical buckling loads on square
monolayer simple-supported GSs with the results obtained by the application of
molecular dynamic simulation in Ref. [23]. Youngs modulus of the GSs is assumed as
E = 1 TPa, Poissons ratio =0.16, h =0.34 nm, K w KG 0 , and C 0. From Table 2,
a very high concordance of the results in the present study with the results in Ref. [11]
can be noticed. In Ref. [23],it has been demonstrated that the optimal value of the
nonlocal parameter for First-Order Shear Deformation Theory is (e0 a)2 1.81nm2 .The
value of the Winkler modulus parameter KWN , for the surrounding polymer matrix is
varied from 0 to 500, what for Lx 10nm corresponds to the change
KW 0 GPa nm 0.185 GPa nm , while the shear modulus parameter KGN is varied from
0 to 20,what for Lx 10nm corresponds to the change KG 0 nN nm 0.771nN nm .
In Ref. [27] the value for C is varied from 0.005 GPa nm to 0.1 GPa nm . In a
dimensionless form it corresponds to the change CN from 5 to 270. For the present study,
the transverse shear correction factor is taken as 0.8667. The same value for the
transverse shear correction factor has been taken in Ref. [19]. In the following figures on
the coordinate axis, the values 10-4 Ncr are used.
43
a) b) c)
Fig. 2 Small scale effect on critical buckling load of double-layered graphene sheets at
various nonlocal parameters and boundary conditions for in-phase buckling
KWN 250, KGN 10, CN 0 for (a) m n 1, Lx Ly 10 nm ,
(b) m n 2, Lx Ly 10 nm and (c) m n 1, Lx Ly 20 nm .
In all three figures, the highest value of the critical buckling load is for CCCC
nanoplates, while the lowest value is for SSSS nanoplates. In all cases, with the
increase of the nonlocal parameter value, the value of critical buckling load is decreased
nonlinearly. The highest nonlinearity is present at CCCC nanoplates,and the lowest at
SSSS nanoplates.The nonlinearity increases with the increase of the half wave number,
so that, in cases where Lx Ly 10 nm and m n 2 are at higher values for nonlocal
parameter the value of critical buckling load becomes very close for two observed cases.
It is known that with the increase of the number of half-waves the intensity of nonlocal
effect increases. It is obvious that the influence of nonlocal effect on the decrease of the
value of critical buckling load depends very intensively on the way in which the
nanoplates are supported. At higher values of the nonlocal parameter, the difference in
the value of critical buckling load is significant for all two boundary conditions.
a) b) c)
Fig. 3 Small scale effect on critical buckling load of double-layered graphene sheets at
various nonlocal parameters and boundary conditions for out-of-phase buckling
( KWN 250, KGN 10, CN 200 ) for (a) m n 1, Lx Ly 15 nm ,
(b) m n 2, Lx Ly 10 nm and (c) m n 2, Lx Ly 20 nm
In Fig. 3b, it can be noticed that in the case of out-of- phase buckling at
Lx Ly 10 nm and m n 2 at high values of nonlocal parameter ( 2 nm 2 ) the value
of critical buckling load is very close for the case of CCCC and SSSS nanoplates. In the
case of Fig. 3a, where Lx Ly 15nm and m n 1 the buckling behaviour is the same as
in the case of the in-phase buckling in Fig. 2a. In the case of Fig. 3c when Lx Ly 20 nm
and m n 2 , it can be seen that the difference in the values of critical buckling load
at higher values of nonlocal parametersis important for all two ways of support.
44
6 CONCLUSION
In this paper is applied a new nonlocal first-order shear deformation theory to
illustrate the nonlocal buckling behaviour of double-layered GSs embedded in an elastic
medium. The equations of equilibrium are derived by using the virtual displacement
method. The critical buckling load was obtained analytically for two characteristic cases
of buckling. Numerical results discuss the effects of the nonlocal parameter, plate aspect
ratio, elastic foundation stiffnesses and boundary conditions on the critical buckling load
for two characteristic cases of buckling of the double-layered GSs. The following
conclusions may be drawn from the present paper :
1. For both characteristic cases of buckling, the value of the critical buckling load
decreases with the increase of the value of the nonlocal parameter. The way in which
the plates are supported significantly influences the intensity of the decrease of the
critical buckling load.
2. The nonlocal effect is the most prominent at CCCC nanoplates, and the lowest at
SSSS nanoplates for both characteristic cases.
3. In both characteristic cases of buckling, the value of the critical buckling load
decreases with the increase of the nonlocal parameter value. That decrease of the value
of the critical buckling load is the most intensive at CCCC nanoplates (Fig 2.b and Fig.
3.b).
REFERENCES
[1] Iijima, S. (1991). Helical microtubules of graphitic carbon. Nature Materials, vol. 354,
p.p. 56-58.
[2] Geim, AK., Novoselov, KS. (2007). The rise of graphene. Nature Materials, vol. 6,
p.p.183-191.
[3] Demczyk, BG., Wang, YM., Cumings. J., Hetman, M., Han, V., Zettl, A., Ritchie, RO.
(2002). Direct mechanical measurement of the tensile strength and elastic modulus
of multiwalled carbon nanotubes. Material Science and Engineering : A, vol. 334,
p.p. 173-178.
[4] Poncharal, P., Wang, Zl., Urarte, D., de Heer, WA. (1999). Electrostatic deflection
and electromechanical resonance of carbon nanotubes. Science, vol. 283,p.p.
1513-1516.
[5] Lee, C., Wei, X., Kysar, JW., Hone, J. (2008). Measurement of the Elastic Properties
and Intrinsic Strength of Monolayer Graphene. Science, vol. 321, p.p. 385-388.
[6] Behfar, K., Naghdabadi, R. (2005). Nanoscale vibrational analysis of a multi-layered
Graphene sheet embedded in an elastic medium. Composites Science and
Technology, vol. 65, p.p. 1159-1164.
[7] Liew, KM., He, Q., Kitipornchai, S. (2006). Predicting nanovibration of multi-layered
graphene sheets embedded in an elastic matrix. Acta Materialia, vol. 54, p.p. 4229-
4236.
[8] Eringen, AC. (1983). On differential-equations of nonlocal elasticity and solutions of
screw dislocation and surface-waves. Journal of Applied Physics, vol. 54, p.p. 4703-
4710.
[9] Peddieson, J., Buchanan, GR., McNitt, RP. (2003). Application of nonlocal
continuum models nanotechnology. Internatonal Journal of Engineering Science,
vol. 41, p.p. 305-312.
[10] Sudak, L. (2003). Column buckling of multiwalled carbon nanotubes using nonlocal
continuum mechanics. Journal of Applied Physics, vol. 94, p.p. 7281-7287.
45
[11] Duan, WH., Wang, CM. (2007). Exact solutions for axisymmetric bending of
micro/nanoscale circular plates based on nonlocal plate theory. Nanotechnology,
vol. 18:385704.
[12] Sakhaee-Pour, A., Ahmadian, MT., Naghdabadi, R. (2008). Vibrational analysis of
single-layered graphene sheets. Nanotechnology, vol. 19:085702.
[13] Murmu, T., Adhikari, S. (2011). Nonlocal vibration of bonded double-nanoplate-
systems. Composites : Part B, vol. 42, p.p. 1901-1911.
[14] Murmu, T., Sienz, S., Adhikari, S., Arnold, C. (2013). Nonlocal buckling of double-
nanoplates-systems under biaxial compression. Composites: Part B, vol. 44, p.p.
84-94.
[15] Pouresmaeeli, S., Fazelzadeh, FA.,Ghavanloo, E. (2012). Exact solution for
nonlocal vibration of double-orthotropic nanoplates embedded in elastic medium.
Composites : Part B, vol. 43, p.p. 3384-3390.
[16] Radi, N., Jeremi, D. (2016). Thermal buckling of double-layered graphene sheets
embedded in an elastic medium with various boundary conditions using a nonlocal
new first-order shear deformation theory. Composites : Part B, vol. 97, p.p. 201-
2015.
[17] Pradhan, SC., Phadikar, JK. (2009). Nonlocal elasticity theory for vibration of
nanoplates. Journal of Sound and Vibration , vol. 325, p.p. 206-223.
[18] Pradhan, SC. (2009). Buckling of single layer graphene sheet based on nonlocal
elasticity and higher order shear deformation theory. Physics Letters A, vol. 373, p.p.
4182-4188.
[19] Hashemi, SH., Samaei, AT. (2011). Buckling analysis of micro/nanoscale plates via
nonlocal elasticity theory. Physica E, vol. 43, p.p. 1400-1404.
[20] Samaei, AT., Abbasion, S., Mirsayar, MM. (2011). Buckling analysis of a single-layer
graphene sheet embedded in an elastic medium based on nonlocal Mindline plate
theory. Mechanics Research Communications, vol. 38, p.p. 481-485.
[21] Thai, HT., Nguyen, TK., Vo, TP., Lee, J. (2014). Analysis of functionally graded
sandwich plates using a new first-order shear deformation theory. European Journal
of Mechanics-A/Solids, vol. 45, p.p. 211-225.
[22] Sobhy, M. (2013). Buckling and free vibration of exponentially graded sandwich
plates resting on elastic foundation under various boundary conditions. Composite
structures, vol. 99, p.p. 76-87.
[23] Ansari, R., Sahmani, S. (2013). Prediction of biaxial buckling behaviour of single-
layered graphene sheets based on nonlocal plate models and molecular dynamics
simulation. Applied Mathematical Modelling, vol. 37:7338-51.
[24] Bateni, M., Kiani, Y., Eslami, M.R. (2013). A comprehensive study on stability of
FGM plates. Internationa Journal of Mechanical Science, vol. 75, p.p. 134-144.
[25] Kumar, TJ., Narendar, S., Gopalakrishnan, S. (2013).Thermal vibration analysis of
monolayer graphene embedded in elastic medium based on nonlocal continuum
mechanics. Composite structures, vol. 100:332e42.
[26] Wang, YZ., Li, FM., Kishimoto, K. (2011) Thermal effects on vibration properties of
double-layered nanoplates at small scales. Composites : Part B, vol. 42:1311e7.
[27] Fazelzadeh, SA., Pouresmaeeli, S. (2013). Thermo-mechanical vibration of
doubleorthotropic nanoplates surrounded by elastic medium. Journal of Thermal
Stresses, vol. 36, p.p. 225-238.
46
_____________________________________________________________________________
LAGRANEVI KOEFICIJENTI VEZE KOD KRIVAJNO KLIPNOG

MEHANIZMA
Aleksandar Milainovi1, Zdravko Milovanovi, Darko Kneevi2
Rezime: Jerdnaine kretanja krivajno klipnog mehanizma su izvedene na osnovu

Njutnovih zakona, a tijela koja ine posmatrani sistem su modelirana kao kruta tijela.
Lagranevi mnoitelji veze su dobijeni na osnovu jednaina ogranienja, a ove jednaine
zajedno sa diferencijalnim jednainama kretanja ine sistem diferencijalno algebarskih
jednaina. Razvijen je specijalni oblik jednaina kretanja krivajno klipnog mehanizma
koji je namjenjen za inverznu dinamiku analizu. Na kraju su dobijene sile koje
predstavljaju reakcije veze, na osnovu Lagranevih mnoitelja, a koje djeluju u
zglobovima krivajno klipnog mehanizma.
Kljune rijei: krivajno klipni mehanizam, diferencijalno algebarske jednaine,

Lagranevi mnoitelji, inverzna dinamika
LAGRANGE MULTIPLIERS OF THE CONSTRAINT FORCES OF THE SLIDER

CRANK MECHANISM
Abstract: The equations of motion of a slider crank are derived beginning with Newton's
laws for a particle and a model of rigid bodies. The Lagrange multiplier form of
constrained equations of motion is derived, and properties of the resulting differential-
algebraic equations of motion that are important for numerical solution are developed.
Special forms of the equations of motion that are suitable for inverse dynamic and
equilibrium analysis are developed. Finally,reaction forces that act on bodies due to
joints are derived from Lagrange multipliers.
Key words: slider crank, differential-algebraic equations, Lagrange multiplier, inverse

dynamic
1 UVOD
Mehaniki sistemi su sastavljeni od tijela povezanih zglobovima. Svrha veza je
da se prenese kretanje s jednog tijela na drugo. Pretpostaviemo da se motorni
mehanizam sastoji od krutih tijela tako da emo zanemariti deformisanje pojedinih
1 Prof. dr Aleksandar Milainovi, Mainski fakultet, Banjaluka, Bosna i Hercegovina, milasinovica@gmail.com

2 Prof. dr Zdravko Milovanovi, Mainski fakultet, Banjaluka, Bosna i Hercegovina, m-zdravko@teol.net
3
Prof. dr Darko Kneevi, Mainski fakultet, Banjaluka, Bosna i Hercegovina, darko.knezevic@unibl.rs
47
Aleksandar Milainovi, Zdravko Milovanovi, Darko Kneevi
elemenata. Ako se koristi pristup koji podrazumjeva kruta tijela onda se moe
konstatovati da se rastojanje izmeu bilo koje dvije take istog tijela ne mijenja.
Pretpostavka da nema elastinog deformisanja pojedinih elemenata sistema je
prihvatljiva pri analizi kretanja jer su deformacije sistema u odnosu na pomjeranja
zanemarljive.
Kinematski odnosi pojedinih elemenata sistema koje definiu veze se mogu
izraziti sistemom algebarskih jednaina. Oblik ovih jednauna zavisi od parametara ili
koordinata koje se koriste za opisivanje kretanja. Slika 1 a) pokazuje dva tijela i i j, u
ravni, koja su vezana zglobom. Veza tijela i i tijela j je u taki P. Odgovarajua taka
tijela i u taki P je Pi , a odgovarajua taka tijela j u taki P je Pj . Uslov koji ispunjava
ravanski zglob pri kretanju mehanizma je da taka Pi tijala i bude u kontaktu sa takom
Pj tijela j. Ovaj uslov se matematiki izraava na sledei nain
rPi rPj , (1)
gdje je rPi vector poloaja take Pi u globalnom kordinatnom sistemu, a rPj vector
poloaja take Pj takoe u globalnom kordinatnom sistemu. Uslov dat jednainom (1)
eliminie mogunost pomjeranja izmeu dva tijela. Meutim, dva tijela mogu da rotiraju
jedno u odnosu na drugo. Ovo je jedino relativno kretanje koje se moe javiti izmeu ova
dva tjela koja su vezana ravanskim zglobom. Prema tome, ravanski zglob ima jedan
stepen slobode jer on eliminie dva stepena slobode relativnog pomjeranja dva tjela du
osa.
Slika 1. Veze za ravansko kretanje
Drugi primjer veze sa jednim stepenom slobode kretanja je kliza prikazan na

slici 1. b). U ovom sluaju je mogue samo relativno kretanje jednog tijela u odnosu na
drugo i to du ose voice. U ovom sluaju kliza ima dva kinematska ogranienja. Prvo:
ne postoji mogunost relativnog zakretanja jednog tjela u odnosu na drugo. Drugo: ne
postoji relativna translacija izmeu dva tijala du ose koja je normalna na osu klizaa.
Ova dva uslova se matematiki mogu izraziti na sledei nain
48
Lagranevi koeficijenti veze kod krivajno klipnog mehanizma
i j const
, (2)
hTi rij 0
gdje su i i j ugaone pozicije tijela i i j, rij je vektor koji spaja take Pi i Pj definisana
na tjelu i i j du ose klizaa i hi vektor koji je normalan na osu klizaa.
Jedan od osnovnih korak u kinematikoj i dinamikoj analizi mehanikih sistema
je odreivanje broja stepeni slobode ili nezavisnih koordinata koje su neophodne da se
opie pozicija sistema. Stepen slobode sistema definie minimalan broj nezavisnih
parametara za pogon ili kontrolu kretanja sistema. Mehaniki sistem bez slobode
kretanja spada u domen statike. Veina mehanizama koja se koriste za praktinu
primjenu ima jedan stepen slobode kretanja. Kretanje takvog mehanizma je kontrolisano
jednim ulaznim parametrom koji se transformie u izlaz. Motorni mehanizam je primjer
takvog jednog mehanizma sa jednim stepenom slobode kretanja. Robot predstavlja
primjer sistema s vie slobode kretanja.
Kako je ve reeno kruto tijelo koje vri slobodno ravansko kretanje ima tri
stepena slobode odnosno potrebna su tri nezavisna parametra da bi se mogao odrediti
poloaj tjela u svakom trenutku vremena. Od ove tri kordinate dvije definiu translatorno
kretanje tjela du dvije normalne ose X i Y dok trea definie rotaciju tjela. Za definisanje
pozicije ravanskog sistema koji se sastoji od nt slobodnih tijela neophodno je 3nt
kordinata. Ako izmeu tijela postoje veze broj stepeni slobode sistema se smanjuje.
Redukcija u broju stepeni slobode sistema zavisi od broja nezavisnih jednaina koje
definiu veze. Pri ravanskom kretanju broj stepeni slobode kretanja sistema se moe
izraunati po sledeem izrazu
ns 3nt nv (3)
gdje je ns broj stepeni slobode sistema, nt broj tijela koja ine sistem i nv je ukupni broj
linearno nezavisnih jednaina koje defininiu veze sistema. Svaki ravanski zglob i kliza
definiu dva kinematska ogranienja koja redukuju broj stepeni slobode za dva.
2 RAUNARSKE METODE U ANALIZI KRETANJA KRIVAJNO KLIPNOG

MEHANIZMA
Na slici 2. je prikazana ema krivajno klipnog mehanizma, sile koje djeluju na
mehanizam i ekvivalentni dinamiki sistem. Ako je poznata sila f g i moment m0 koji
djeluju na krivajno klipni mehanizam, problem se svodi na prvi zadatak dinamike.
Direktna primjena Njutn-Ojlerovih jednaina kretanja, u ovom primjeru, dovodi do sedam
diferencijalnih jednaina kretanja ije su nepoznate komponente ubrzanja sistema i
reakcije veze.
Nepoznate su: ubrzanja a2 x ,,a2 y , 2 , a3 x , a3 y , 3 , a4 x i sile
f12 x , f12 y , f 23 x , f 23 y , f 34 x , f 34 y .Mehanike veze i preddefinisane trajektorije kretanja u
dinamici krutog tijela dovode do ogranienja kretanja tijela koja ine posmatrani sistem.
Zbog kinematskih ogranienja koje nameu veze i zbog unaprijed definisanih trajektorija
pojedineh elemenata sistema izbor koordinata i oblik jednaina kretanja nije jednostavan
zadatak i predmet je intenzivnih istraivanja u polju kompijuterski podrane dinamike
krutog tijela [1-5]. Efikasnost, optost i numeriki algoritam za rjeavanje jednaina
kretanja strogo zavise od izbora kordinata.
49
Slika 2. Krivajno klipni mehanizam
Sistematinija i generalnija procedura za dobijanje vie jednaina koje opisuju

kretanje sa vie nepoznatih je bazirana na Lagranevoj dinamici. Kod Lagranevog
pristupa, koriste se koeficijenti (mnoitelji) veze da se definiu reakcije veze i da se
dobije sistem jednaina kretanja kod kojeg je matrica sistema simetrina.
Vektor jednaina veze sadri n algebarskih jednaina a one se sastoje iz
jednaina koje definiu veze kao i zakona kretanja pogonskog lana.
Kod Lagranevog pristupa nema potrebe da se sistem oslobaa od veze i da se
reakcije veze zamjenjuju silama kako bi se mogla izvriti analiza reakcija veze. Naime,
do jednaina kretanja se moe doi razmatranjem sistema kao cjeline uz koritenje
jednaina veze. Pristup ima opti karakter i moe se primjeniti na bilo koji dinamiki
sistem, ali e se ovdje primjeniti na krivajno klipni mehanizam. Vektor jednaina
ogranienja c q,t je
50
rO1x

rO1y

1
rO2 x lO2 cos 2

rO2 y lO2 sin 2

rO2 x l 2 lO2 cos 2 rO3 x lO3 cos 3
c q, t 0

rO2 y l 2 lO2 sin 2 rO3 y lO3 sin 3

(4)

rO3 x l 3 lO3 cos 3 rO4 x

rO3 y l 3 lO3 sin 3 rO4 y

rO4 y

4

2 g t
Jakobijeva matrica jednaina veze je

1 0 lO2 sin 2 0 0 0 0 0

0 1 lO2 cos 2 0 0 0 0 0

1 0 l 2 lO2 sin 2 1 0 lO3 sin 3 0 0
Cq

0 1 l 2 lO2 cos 2 0 1 lO3 cos 3 0 0 (5)

0 0

0 1 0
l 3 lO3 sin 3 1 0

0 0

0 0 1 l 3
lO3 cos 3 0 1

Dvostrukim diferenciranjem jednaina veze dolazi se do sledee jednaine

22 lO2 cos 2

2 lO2 sin 2
2

2

2 l 2 lO2 cos 2 3 lO3 cos 3
2
Cqq Cqq q 2Cqt q c tt 2

q

2 l 2 lO2 sin 2 32 lO3 sin 3

(6)

32 l 3 lO3 cos 3

2
3 l 3 lO3 sin 3

Diferencijalno algebarske jednaine kretanja krivajno klipnog mehanizma imaju oblik

M CTq q fs

Cq 0 Cqqq q 2Cqt q c tt
, (7)
gdje je
51
T
f12 x f12 y f 23 x f 23 y f 34 x f 34 y
T . (8)
f s 0 0 m0 0 0 0 fg 0
U ovom sluaju je koritena dinamika analiza krivajno-klipnog mehanizma da

bi se dolo do jednaine (7), ova jednaina ima opti karakter i moe da se primjeni na
bilo koji mehanizam. Matrica u jednaini (7) je simetrina i pozitivno definitna, a to znai
da su joj sve vrijednosti glavnih subdeterminanti (minora) pozitivne. Kod krivajno-klipnog
mehanizma Lagranevi mnoitelji veze predstavljaju sile koje djeluju u elementima veze.
Broj Lagranevih mnoitelja je uvijek jednak broju jednaina ogranienja, a koji je jednak
broju zavisnih varijabli. Lagranevi mnoitelji, koji zamjenjuju nezavisne reakcije veze,
se smatraju nepoznatim. Korienje jednaina veze umjesto sila reakcije veze definie
fundamentalnu razliku izmeu Lagranevog i Njutnovog pristupa.
3 ANALIZA REZULTATA
Predstavljeni matematiki model je primjenjen na konkretnom motoru
PEUGEOT DW10BTED4. Sila pritiska gasova je mjerena na ispitnom stolu. Momenti
inercije pojedinih elemenata koji ine posmatrani sistem su dobijeni na osnovu solid
modela.
Na slici 3. je prikazana promjena sile koja djeluje na oslonaki rukavac koljenastog vratila
u funkciji od ugla poloaja koljena koljenastog vratila f12 , kao i komponente ove sile u
globalnom koordinatnom sistemu f12x i f12 y .
Slika 3. Sila koja djeluje na oslonaki rukavac koljenastog vratila f12 i njene
komponente du x f12x i y f12 y ose globalnog kordinatnog sistema
52
Na slici 4. je prikazana promjena unutranje sile (reakcije veze) koja djeluje na letei
rukavac koljena koljenastog vratila u funkciji ugla poloaja koljenastog vratila f 34 .
Takoe su prikazane i komponente sile f 34 koje djeluju u x f L34 x i y f L 34 y pravcu i to u
lokalnom koordinatnom sistemu koljena koljenastog vratila. Primjetimo da je sila f L 34 y
normalna na du OA koja spaja ose oslonakog i leteeg rukavca (slika 2) i ona izaziva
moment zakretanja mehanizma oko ose oslonakog rukavca. Sila f L34 x djeluje u pravcu
dui OA i ona napree koljeno koljenastog vratila na sabijanje.
Slika 4. Sila koja djeluje na letei rukavac koljenastog vratila f 34 i njene komponente
du x f L34 x i y f L 34 y ose lokalnog kordinatnog sistema
4 ZAKLJUCI
Na osnovu izvrenih analiza krivajno klipnog mehanizma namee se nekoliko
zakljuaka:
Lagranev pristup sa koeficijentima veze koji predstavljaju sile u zglobovima
daje optiji pristup i prikladniji je sa stanovita koritenja raunara;
Ako bi bile poznate spoljne sile koje djeluju na sistem onda bi se s
Lagranevim pristupom dobio sistem diferencijalnih i algebarskih jednaina
koje bi se morale rjeavati simultano. Meutim, obino nije poznat obrtni
moment m/0 i njega je vrlo teko izmjeriti na konkretnom mehanizmu tako da
se koristi inverzni metod njegovog odreivanja na osnovu zakona kretanja;
Zakon promjene sile gasova je dobijen mjerenjem pritiska u cilindru i
predstavlja spoljnu silu koja djeluje na sistem;
Kod krivajno klipnog mehanizma uobiajniji je pristup da se odrede sile koje
djeluju na sistem na osnovu ugaone brzine kojom se kree koljenasto vratilo.
U ovom sluaju vrlo jednostavno se moe uzeti u obzir i neravnomjernost
53
obrtanja koja dovodi do promjene sila koje predstavljaju reakcije veze [7]. Za
ispitivani motor neravnomjernost obrtanja nije imala znatnijeg uticaja na
promjenu unutranjih sila (ispod 2%).
Lagranev pristup omoguava dinamiku analizu sila kod prelaznih reima
[6] kada se ugaona brzina mjenja po zadatom zakonu.
LITERATURA
[1] Haug, E. J. (1989). Computer aided kinematics and dynamics of mechanical
systems, Volume I: Basic Methods, Allyn and Bacon
[2] Shabana A. A. (1998). Dynamics of Multibody Systems, 2nd Edition, Cambridge
Univ Press .
[3] Schiehlen W. (1986). Technische Dynamik, Stuttgart
[4] Nikravesh P. E. (1988). Computer-Aided Analysis of Mechanical Systems, Prentice-
Hall
[5] Milainovi, A., Filipovi, I.: Hribernik, A.: Contribution to the Definition of the
Torsional Stiffness of the Crankshaft of a Diesel Engine Used in Heavy-Duty
Vehicles, Proc. ImechE, Part D, Journal of Automobile Engineering, Volume 223,
Number 7/2009, pp. 921-930.
[6] Rakopoulos, C. D., Giakoumis, E. G., and Dimaratos, A. M. (2007). Evaluation of
various dynamic issues during transient operation of turbocharged diesel engine
with special reference to friction development, SAE paper 2007-01-0136
[7] Rakopoulos, C. D., Giakoumis, E. G., and Dimaratos, A. M.: Study of crankshaft
torsional deformation under steady-state and transient operation of turbocharged
diesel engines, Proc. ImechE, Part K: J. Multi-body Dynamics, Vol. 222, pp. 17-30.
[8] Milainovi, A., Filipovi I., Milovanovi Z., Kneevi D. (2011). Determination of the
Engine Torque of a Four Cylinder Four Stroke Diesel Engine on the Basis of
Harmonic Analysis of the Crankshaft Angular Velocity, Transactions of Famena,
University of Zagreb, Volume 35, No.4,55-63, Zagreb.
54
_____________________________________________________________________________
ANALITIKO ODREIVANJE SOPSTVENIH FREKVENCIJA

POGONSKOG VRATILA
Nikola Vueti1, Aleksandar Koarac2, Mirko Blagojevi3, Ranko Antunovi4
Rezime: Modalna analiza je dinamika analiza linearnih sistema sa N stepeni slobode

koja se zasniva na metodi razvijanja po vlastitim oblicima ili tonovima. Kroz ovaj rad je
prikazano analitiko odreivanje sopstvenih frekvencija oscilovanja pogonskog vratila
mjenjakog prenosnika snage DMB 6.80.235 primjenom Ojler-Bernulijeve teorije greda.
Dobijeni rezultati su poreeni sa rezultatima sopstvenih frekvencija baziranim na ranijim
istraivanjima, a dobijenim na osnovu eksperimentalne postavke, kao i numerikim
putem uz upotrebu software-a Ansys Workbench 12.1. Konaan cilj rada je dobijanje
pouzdanog matematikog modela sprezanjem parcijanih prenosnih funkcija.
Kljune rijei: matematiki model, modalna analiza, Ojler-Bernulijeva teorija greda,

pogonsko vratilo, sopstvene frekvencije
ANALYTICAL DETERMINATION OF DRIVE SHAFT NATURAL FREQUENCIES
Abstract: Modal analysis is a dynamic analysis of linear systems with N degrees of

freedom, which is based on the method of developing on its own forms or tones. This
paper shows analytical determination of gearbox DMB 6.80.235 drive shaft natural
frequencies using Euler-Bernoulli beam theory. Obtained results were compared with
natural frequencies results based on previous research that were obtained by an
experiment and by numerical method using Ansys Workbench 12.1 software. The final
paper goal is to obtain a reliable mathematical model by partial transfer functions
coupling.
Key words: mathematical model, modal analysis, Euler-Bernoulli beam theory, drive
shaft, natural frequencies
1 Nikola Vueti, mr, Mainski fakultet I. Sarajevo (CA), I. Sarajevo, BiH, vuceticnikola@yahoo.com
2
Doc. dr Aleksandar Koarac, Mainski fakultet I. Sarajevo, I. Sarajevo, BiH, akosarac@gmail.com
3
Prof. dr Mirko Blagojevi, Fakultet inenjerskih nauka, Kragujevac, Srbija, mirkob@kg.ac.rs
4
Prof. dr Ranko Antunovi, Mainski fakultet I. Sarajevo, I. Sarajevo, BiH, rankoantunovicmf@gmail.com
55
Nikola Vueti, Aleksandar Koarac, Mirko Blagojevi, Ranko Antunovi
1 UVOD
Modalna analiza je dinamika analiza linearnih sistema sa N stepeni slobode

koja se zasniva na metodi razvijanja po vlastitim oblicima ili tonovima. Ova metoda je
primjenjiva ako je vremenska zavisnost sila pobude svih masa ista ili srazmjerno ista. U
optem sluaju, moemo rei da je modalna analiza proces kojim opisujemo frekvenciju,
priguenje i modalni oblik konstrukcije, dakle, njene osnovne dinamike parametre [1].
U ovome radu se razmatra nain dobijanja prenosne funkcije sistema na osnovu
prenosnih funkcija podsistema, odreenih matematiki, numeriki ili eksperimentalnim
ispitivanjem. Pod pojmom sistem, u ovom sluaju, podrazumijevae se sklop ili
geometrijsko tijelo sloenog oblika koje e se dalje, u cilju dobijanja prenosne funkcije
posmatrati kao skup meusobno povezanih geometrijskih tijela jednostavnijeg oblika,
odnosno podsistema [2]. Optereuje li se konstrukcija konstantnom silom koja osciluje,
tako da joj se frekvencija mijenja tokom vremena, odgovor konstrukcije u vidu pomaka,
brzine ili akceleracije e se mijenjati, te e, pri odreenim frekvencijama, dostizati
maksimalne vrijednosti. Frekvencije kod kojih se postiu maksimalne vrijednosti
odgovora odgovaraju sopstvenim frekvencijama konstrukcije. Modalna analiza se moe
izvriti analitikim ili eksperimentalnim metodama, pri emu eksperimentalne metode, u
veini sluajeva, slue za provjeru tanosti analitikih matematikih modela [1]. Konana
eksperimentalna modalna analiza se zasniva na mjerenju ulaznih funkcija pobude i
izlaznih funkcija odgovora konstrukcije [3]. Izmeu ovih funkcija se uspostavlja veza
preko funkcije frekventnog odgovora koja je nezavisna od ulazne pobude i opisuje
odgovor konstrukcije izmeu mjernih taaka. Modalna analiza se najee provodi da bi
se smanjio nivo nepoeljnih vibracija [4]. Modalna analitika i numerika analiza su
prikazane na primjeru odreivanja sopstvenih frekvencija kontinualnih greda [5].
Konaan cilj ovoga rada je dobijanje pouzdanog matematikog modela sprezanjem
parcijanih prenosnih funkcija na primjeru pogonskog vratila (slika 1) iz sklopa mjenjakog
prenosnika snage DMB 6.80.235.
Slika 1. Pogonsko vratilo
2 PRIMIJENJENE METODE
2.1 Analitika metoda
U ovom poglavlju prikazana je analitika metoda odreivanja prenosne funkcije

primjenom pozicionog sprezanja (engleski receptace coupling), te je izvrena verifikacija
dobijenih rezultata-sopstvenih frekvencija oscilovanja pogonskog vratila primjenom
metode konanih elemenata i eksperimentalnim ispitivanjem. Sprezanjem direktnih i
ukrtenih prenosnih funkcija podsistema se razmatraju mogunosti odreivanja direktne
i ukrtene prenosne funkcije sistema [2]. Prenosne funkcije podsistema se spreu za
razliite granine uslove, pod im se podrazumijeva uslov ravnotee i uslov
56
Analitiko odreivanje sopstvenih frekvencija pogonskog vratila
kompatibilnosti na granici tijela. U radu je izloen koncept pozicionog sprezanja koji je,
potom, verifikovan na primjeru odreivanja prenosne funkcije pogonskog vratila
matematikim putem, izvoenjem i sprezanjem prenosnih funkcija dobijenih na osnovu
Ojler-Bernulijeve teorije greda, zatim numeriki primjenom metoda konanih elementa,
te, na kraju, i eksperimentalnim ispitivanjem. Konaan cilj je pouzdan matematiki model
dobijen sprezanjem parcijanih prenosnih funkcija. Prenosna funkcija elemenata
odreuje se na krajevima slobodno oslonjenih segmenata. Prenosna funkcija
spregnutog sistema odreuje se na slobodnom kraju ili na mjestima spoja. Prenosne
funkcije elemenata oznaene slovima h, l, n i p definisane su kao [6]:
xj xj j j
h jk , l jk , n jk , p jk , (1)
fk mk fk mk
pri emu su slovima x i oznaeni ugib i nagib, dok su sa f i m oznaeni sila i moment
u odreenoj taki. Ukoliko se posmatraju dva krajnja desna segmenta slobodno
oslonjenog vratila, prikazana na slici 2, matrice pomijeranja pri krutoj vezi izmeu
segmenata imaju sljedei oblik [6]:
R R12 a
R1 11
R2 a 2 a
(2)
R2 a1
R R2b 3a
R2 2b 2b
R3a 3a
(3)
R3a 2b
Slika 2. Slobodno oslonjeni segmenti vratila (dva krajnja desna segmenta)
Slika 3. Slobodno oslonjeni segmenti vratila nakon sprezanja
Pri tome svaka podmatrica u izrazima 2 i 3 ukljuuje prenosne funkcije krajeva

koje u obzir uzimaju ugib i nagib u taki, kao i silu i moment, 4, 5 [6]:
h l12 a
R11 11 (4)
n2 a1 p2 a 2 a
x x
h11 1 , l11 1 , n11 1 , p11 1 (5)
f1 m1 f1 m1
57
Nakon to se odrede prenosne funkcije obje komponente, primjenom uslova

kompatibilnosti i ravnotee, prenosna funkcija spregnutih segmenata datih na slici 3 se
moe izraziti kao [6]:
G G12
G 11 (6)
G21 G22
Pri tome su [6]:
G11 R11 R12 a R2 a 2 a R2b 2b R2 a1

1
(7)
G12 R12a R2a 2a R2b 2b R2b3a

1
(8)
G21 R3a 2b R2 a 2 a R2b 2b R2a1

1
(9)
G22 R3a3a R3a 2b R2 a 2 a R2b 2b R2b3a

1
(10)
Na isti nain se moe izvriti sprezanje sljedeeg segmenta: dva prethodno

spregnuta segmenta se sada posmatraju kao jedan kome se dodaje (sa lijeve strane)
sljedei segment, te se ponavlja postupak opisan matrinim jednainama 4-10, slika 4.
Pri tome je broj ponavljanja jednak broju segmenata koji se spreu.
Slika 4. Sprezanje treeg segmenta sa prethodno spregnutim segmentima
Sprezanje vie od dva segmenta moe se izvesti i direktno, izvoenjem

jednaina sprezanje vie segmenata za odreene granine uslove. Jednaina sprezanja
est segmenata, koliko pogonsko vratilo sadri u ovom sluaju, slika 5, glasi [3]:
G11 R111
R112
1
R311 R 222
1

1

1
R121
R 211 R122 R 212 R 5 R 4
R 4 R3 R 4 11 22
R 4 R3 R 2 21
12 11
12 R512 R611 R522 R521 21 21
R 3 22 1

(11)
58
Slika 5. Pogonsko vratilo podijeljeno na est segmenata nakon sprezanja
Veza izmeu svakog od segmenata se uzima kao kruta.
2.2 Numerika metoda
Modalni oblici predstavljaju nain deformisanja (kretanja) strukture koja vibrira

na nekoj sopstvenoj frekvenciji. Numerika modalna analiza je izvrena u software-u
Ansys Workbench 12.1 za sluaj slobodno oslonjenog vratila. Prvi korak koji je bio
neophodan za modalnu analizu vratila u ovome radu bio je modelovanje vratila (slika 6)
i generisanje mree konanih elemenata (slika 7).
Slika 6. Model vratila Slika 7. Generisanje mree KE
Dobijeni rezultati su prikazani u sljedeoj taki rada.
2.3 Eksperimentalna metoda
Eksperimentalna modalna analiza podrazumijeva eksperimentalno odreivanje

dinamikih parametara. Odreuju se modalni parametri linearnog sistema nezavisnog
od vremena. Ovaj postupak se zasniva na analizi registrovanih funkcija pobude koje se
nanose na konstrukciju i vibracija konstrukcije kao odgovora sistema u vremenskom i
frekventnom domenu. Modalni parametri (sopstvena frekvencija, priguenje i modalni
oblik) odreuju pojedini mod i zavise od geometrije, karakteristika materijala i graninih
uslova. Modalni model opisuje dinamiko ponaanje konstrukcije kao linearnu
kombinaciju razliitih sopstvenih modova. Da bi se dinamiko ispitivanje provelo,
potrebna je oprema za prikupljanje i obradu podataka.
59
2.3.1 Eksperimentalna postavka
Eksperiment je izveden u Laboratoriji za primijenjenu mehaniku na Mainskom

fakultetu u Istonom Sarajevu. Cilj eksperimenta je odreivanje sopstvenih frekvencija
ispitivanog vratila i uporeivanje rezultata sa rezultatima sopstvenih frekvencija
dobijenih numerikim putem, odnosno modalnom analizom u software-skom paketu
Ansys Workbench 12.1, kao i sa rezultatima dobijenim analitiki. Potrebno je voditi
rauna o tome da se pri prikupljanju i prenosu podataka izoluju svi dodatni signali iz
frekventnog podruja od interesa koji pri analizi mogu uzrokovati greke i potekoe.
Oprema za dinamiko ispitivanje se sastoji od nekoliko komponenata, meu kojima su
pobuiva, senzor, sistem za prikupljanje podataka, te sistem za analizu ili analizator.
Eksperimentalni sistem (slika 8) se sastoji od ispitivanog vratila objeenog o elastino
ue, kuglice za pobudu, senzora za kontaktno mjerenje vibracija-akcelerometra i
analogne kartice. Za akviziciju podataka i njihovu obradu primijenjena je instrumentacija
National Instruments, slika 9.
Slika 8. Postavka eksperimenta Slika 9. Analogna kartica National Instruments
Objeena kuglica je prije udara otklonjena za priblino 200. Udarom kuglice o vratilo
izaziva se pobuda. Poklapanjem frekvencija pobude sa sopstvenim frekvencijama vratila
dolazi do tzv. rezonance koja je izraena u vidu modova, odnosno pikova na dijagramu
frekvencija-amplituda. Zbog osjetljivosti akcelerometra korienog u ovome radu,
mogue je mjeriti frekvencije reda veliine 10 000 Hz. Princip rada im se zasniva na
osobini piezo-elektrinih kristala da proizvode elektricitet ako su izloeni kompresiji,
savijanju ili smicanju.
3 REZULTATI I DISKUSIJA
Kako je prikazano u prethodnom poglavlju, postavljena je analitika osnova za

odreivanje vrijednosti sopstvenih frekvencija oscilovanja pogonskog vratila mjenjakog
prenosnika DMB 6.80.235 primjenom Ojler-Bernulijeve teorije greda. Vrijednosti
sopstvenih frekvencija pomenutog vratila su odreene u ranijim istraivanjima na osnovu
numerike analize vrene u Ansys Workbench-u 12.1, kao i na osnovu prikazanog
eksperimenta [7].
3.1 Rezultati sopstvenih frekvencija oscilovanja dobijeni analitikim putem
Rezultati sopstvenih frekvencija odreeni analitikim putem su prikazani na sl.

10.
60
Slika 10. Rezultati sopstvene frekvencije dobijeni analitiki
3.2 Rezultati sopstvenih frekvencija oscilovanja dobijeni numerikim putem
Dobijeni rezultati su dati u tabeli 1, a jedan od oblika oscilovanja na slici 11.
Tabela 1. Rezultati sopstvenih frekvencije dobijeni numerikom modalnom analizom
Modovi Vrijednosti sopstvenih frekvencija [Hz]
1. 1170
2. 3309,7
Slika 11. Savojni mod
3.3 Rezultati sopstvenih frekvencija oscilovanja vratila dobijeni eksperimentom
Rezultati eksperimentalne analize su obraeni u software-u MatLab i OriginPro.

Koristila su se oba software-a iz razloga provjere tanosti dobijenih rezultata. Vrijednosti
sopstvenih frekvencija oscilovanja pogonskog vratila dobijene eksperimentalnim putem
su prikazane u tabeli 2.
Tabela 2. Rezultati sopstvenih frekvencija dobijeni eksperimentalno

Modovi Vrijednosti sopstvenih frekvencija [Hz]
1. mod 1166
2. mod 3310
U tabeli 3 su date uporedne vrijednosti rezultata sopstvenih frekvencija oscilovanja

pogonskog vratila dobijene analitiki i numeriki sa eksperimentalnim rezultatima koji su
izabrani kao referentni.
61
Tabela 3. Poreenje analitikih i numerikih rezultata sopstvenih frekvencija vratila sa

eksperimentalnim rezultatima
Odstupanje
Vrijednosti sopstvenih frekvencija [Hz]
Modovi [%]
Analitika Numerika analiza Eksperimentalna analiza A-E N-E
1. Mod 1167 1170 1166 0,08 0,34
2. Mod 3682 3309,7 3310 10,1 0,01
4 ZAKLJUAK
Sopstvena frekvencija je frekvencija na kojoj bilo koja dinamika pobuda

proizvodi znaajan odgovor strukture. Ovo je vano znati zbog toga to i pobuda, koja
je bliska strukturnoj sopstvenoj frekvenciji, takoe, proizvodi tetan efekat. U veini
sluajeva ovakva pobuda proizvee vibracije strukture koje imaju visok nivo amplitude
i koje mogu dovesti do zamora materijala, oteenja osjetljivijih dijelova strukture i, u
ekstremnim sluajevima, do loma i otkaza strukture. Kroz ovo istraivanje prikazano je
analitiko odreivanje vrijednosti sopstvenih frekvencija oscilovanja posmatranog
pogonskog vratila primjenom Ojler-Bernulijeve teorije greda. Dobijeni rezultati su
uporeeni sa rezultatima dobijenim na osnovu numerike modalne analize u software-u
Ansys Workbench 12.1 i sa eksperimentalnim rezultatima. Osnovni cilj rada je dobijanje
pouzdanog matematikog modela za izraunavanje sopstvenih frekvencija sprezanjem
parcijanih prenosnih funkcija na primjeru pomenutog vratila. Na osnovu uporednih
rezultata iz tabele 4 moe se ustanoviti da su odstupanja analitikih rezultata u odnosu
na eksperiment zadovoljavajua, ime je, ujedno, potvrena korektnost navedenog
matematikog modela zasnovanog na Ojler-Bernulijevoj teoriji greda.
LITERATURA
[1] Tom Jamrz, Karel Patoka, Vladimr Dniel, Tom Horek (2012). Modal
analysis of the rotor system, 20th SVSFEM ANSYS Users' Group
[2] Koarac, A. (2016). Razvoj maina alatki primjenom virtualnih modela sa posebnim
osvrtom na dinamiko ponaanje sklopa glavnog vretena, Doktorska disertacija,
Fakultet tehnikih nauka, Novi Sad
[3] Batini, V. (2001). Modal analysis of planetary gear trains, Journal of Mechanical
Engineering Design, Vol. 4, No. 1, pp. 17-24.
[4] R. P. S. Han, J. W-Z. Zu (1992). Modal analysis of rotating shafts: A body fixed axis
formulation approach, Journal of Sound and Vibration, pp. 11-16.
[5] Mahapatra, A., Chatterjee, A. (2015). Comparison of Analytical and Numerical
results in Modal analysis of Multispan Continuous beams with LS-DYNA, 10th
International LS-DYNA Users Conference, pp. 3-21.
[6] Schmitz, L.T., Smith, K.S. (2012) Mechanical Vibration, Modeling and Measurement,
Springer
[7] Vueti, N., Blagojevi, M., Koarac, A., Antunovi, R. (2016). Experimental
verification of numerical gearbox drive shaft modal Analysis results, Machine
Design, Vol. 8, No. 2, ISSN: 1821-1259, pp.57-62.
62
_____________________________________________________________________________
IMBALANCE INFLUENCE ON ROLLING BEARING OPERATING

TEMPERATURE
Nikola Vueti1
Abstract: More and more attention is paid to rolling bearing diagnostics, as a part of an
overall plant diagnostic. Rolling bearing operating temperature is a characteristic that is
affected by a number of factors, among which imbalance is dominant. Mass imbalance
is the most common cause of elevated level of vibrations of rotating machines. In this
paper, using thermovision camera for temperature monitoring, experimental testing of
imbalance influence on rolling bearing operating temperature was carried out. The
results obtained are presented on diagrams, mutal comparison was made and on the
basis of that individual conclusions are derived.
Key words: imbalance, operating temperature, rolling bearing
1 INTRODUCTION
Under the concept of technical diagnostics it means scientific and technical
discipline which includes the theory, methods and tools for recognizing the condition of
technical systems. The main aim of technical diagnostics is to detect and prevent
potential failure of technical systems. This is achieved by measuring characteristic or
diagnostic parameters and on the basis of certain criteria it concludes if they are within
acceptable limits or not. [1]. In this paper, by an experimental method using thermovision
camera, rolling bearing operating temperature was monitoring in four cases: without
imbalance and imbalance with three different masses. On the basis of previous,
conclusion of imbalance influence on rolling bearing operating temperature was derived.
Results were shown and compared by diagrams. Mass imbalance is the most common
cause of elevated level of vibrations of rotating machines [1]. The bearings are machine
elements whose task is to provide the relative movement of working parts while
transferring loads between them and ensuring the accuracy of their position [2]. It is
primarily used in connection with the mobile circular motion, as for example the supports
of the shaft and the axle, where it enables rotation of the sleeve relative to the stationary
support and transferring the specific load [1]. The stationary bearing temperature during
operation is usually about 50-600C [2]. Often, the sight of a small problem in the work
process-oriented production of complex systems, such as the cancellation of rolling
1 MSc Nikola Vueti, Faculty of Mechanical Engineering, East Sarajevo, vuceticnikola@yahoo.com
63
Nikola Vueti
bearing, can cause long delays in operation which typically result in significant financial
costs in business [3]. As part of the overall condition monitoring, more attention is paid
to diagnosis of rolling bearings, as a very important and commonly used machine
elements [4-7]. Experimental determination of the bearing operating temperature can be
made to check the thermal stability of the same [8].
2 EXPERIMENTAL SETUP
Experimental setup was obtained on testing table for dynamic tests in Laboratory
of Applied Mechanic and Machine Design on Faculty of Mechanical Engineering in East
Sarajevo, Fig. 1. Testing table consists of asynchronous frequency-regulated motor
whose output shaft is, through the coupling, associated with the shaft carrying two
rotating discs and that is supported over two rolling bearing type SKF YAR 203/12-2F.
Fig. 1. Testing table
Using thermovision (infrared) camera (Fig. 2), rolling bearing operating

temperature without and with imbalance was monitoring (Fig. 3), and then measuring of
mentioned rolling bearing operating temperature was done for three imbalance cases:
Imbalance mass of 16g (Fig. 4),
Imbalance mass of 20g (Fig. 5),
Imbalance mass of 24g (Fig. 6).
Fig. 2. Thermovision camera
64
Imbalance influence on rolling bearing operating temperature
Fig. 3. Bearing without imbalance Fig 4. Bearing imbalance of 16g
Fig 5. Bearing imbalance of 20g Fig. 6. Bearing imbalance of 24g
In all cases mentioned, rolling bearing operating temperature was measured for
angular velocity value of 50 Hz or for revolutions of 3000 rpm. Starting measuring from
the rolling bearing room temperature, its operating temperature was recorded on every
30s, until the moment of maximum value. After that, the tasting table electromotor was
turned off and operating temperature was recorded during cooling of rolling bearing,
also, on every 30s and temperature diagram was formed.
Fig. 7 shows imbalance elements masses measured on digital scale.
(a) (b)
Fig. 7. (a) bolt mass of 3g, (b) nut mass of 1g
65
Nikola Vueti
3 RESULTS AND DISCUSSION

As previous chapter shows, rolling bearing operating temperatures were
measured for four cases using equipment from Laboratory of Applied Mechanic and
Machine Design. First case presents rolling bearing without imbalance influence and
other three cases show rolling bearing with different masses imbalance influence.
Obtained results were imported in Excel and warming up diagrams, compared each
other, were obtained.
3.1 Warming up of rolling bearing without imbalance

Obtained temperatures were presented on diagram shown in Fig. 8. Maximum
temperature that was achived during operating of rolling bearing without imbalance was
41,5 0C and it was achived for 13 min. Total measuring time was 23,5 min.
Fig. 8. Measured temperatures of bearing without imbalance
3.2 Warming up of rolling bearing with imbalance of 16g

Fig. 9 shows operating temperatures results. In case of rolling bearing with
imbalance mass of 16g, for total measuring time of 23 min, maximum warming up
temperature was 53,7 0C and it was reached for 8,5 min.
66
Fig. 9. Measured temperatures of bearing with imbalance mass of 16g

Measured temperature results were shown on diagram in Fig. 10. In this case,
maximum warming up temperature of 55,3 0C was reached for 9,5 min. Total
temperature range measuring time was 30 min.
67
Nikola Vueti

Operating temperature results, obtained for 33,5 min, were shown on diagram in
Fig. 11. During warming up temperature measuring of rolling bearing with imbalance
mass of 24g, it can be concluded that its maximum value, reached for 11 min, was 57,1
0C.
Table 1 shows maximum warming up temperatures, times to reach maximum

temperature, cooling times and total rolling bearing operating temperature measuring
times for case of bearing without imbalance and for cases of bearing imbalance masses
of 16, 20 and 24 g.
Table 1. Values of measured parameters during rolling bearing temperature monitoring

in four cases
ROLLING BEARING THE MAXIMUM WARMING TIME TO THE MAXIMUM
WARMING UP UP TEMPERATURE (0C) TEMPERATURE (min.)
Without imbalance 41,5 13
Imbalance mass of 16g 53,7 8,5 (16,8)-97,65%
Imbalance mass of 20g 55,3 9,5 (17,3)-82,1%
Imbalance mass of 24g 57,1 11 (17,8)-61,81%
Diagram of comparative values of rolling bearing temperature for each rolling bearing
mentioned measuring was shown in Fig. 12.
68
Fig. 12. Comparative values of rolling bearing temperatures
4 CONCLUSION
The essence of this paper is to measure the operating temperature of rolling
bearing without imbalance and rolling bearing with three different cases of imbalance
using thermovision camera, on which basis investigation of the imbalance influence on
rolling bearing warming up was done. Laboratory equipment of Faculty of Mechanical
Engineering in East Sarajevo was used during experimental setup. If we take into
account the values of the measured rolling bearing operating for all cases of
measurement and results shown in Table 1 and presented diagrams, as well as diagram
with comparative values of temperatures, it can be concluded that the increase in mass
imbalance significantly affects the increase of its operating temperature, ie the maximum
warming up temperature. If we assume that the bearing warming up function is linear
and does not depend on the imbalance mass, time required to reach maximum
temperature of rolling bearing with different masses imbalance would be more than real
measured time. This is shown by the results in Table 1 showed in parentheses derived
in proportion to the necessary time to reach maximum operating temperature in bearing
without imbalance. Also, based on Table 1, it can be concluded that the increase in the
imbalance of 16g, 20g and 24g reduces the time to reach maximum warming up
temperature of, respectively, 97.65%, 82.1% and 61.81%, ie. tested bearing is warming
up faster. Future research could be directed towards finding an accurate mathematical
model of bearing warming up depending on the imbalance mass.
REFERENCES
[1] Todorovi, P., Jeremi, B., Maui, I. (2009). Tehnika dijagnostika. Univerzitet u
Kragujevcu, Mainski fakultet u Kragujevcu.
[2] Miltenovi, V. (2009). Mainski elementi, oblici, proraun, primena. Univerzitet u
Niu, Mainski fakultet Ni.
[3] Antunovi, R., Halep, A. (2014). Defekt faktor kliznih leaja. Konferencija
Odravanje 2014", Zenica, BiH, p. 97-101.
69
Nikola Vueti
[4] Halep, A. (2010). Metode za procjenu stanja kotrljajuih leaja. Konferencija

Odravanje 2010", Zenica, BiH, p. 89-94.
[5] inikovi, G. (2012). Detekcija oteenja leaja u ultrazvunom domenu. Doktorska
disertacija, Beograd: Mainski fakultet u Beogradu.
[6] Markovi, B., Ani, J., Koarac, A. (2015). Procjena radnog stanja kotrljajnih leajeva
uz softversku podrku. Infoteh, Jahorina, BiH, p. 409-414.
[7] Aonja, A., Gligori, R. (2005). Istraivanje veka trajanja kotrljajnih leaja. Letopis
naunih radova, No.1, p. 78-84.
[8] Vueti, N., uri, A., Milutinovi, M. (2015). Experimental determination of sliding
bearing operating temperature. Konferencija DEMI 2015", Banja Luka, BiH, p. 497-
502.
70
_____________________________________________________________________________
KOROZIJA KAO UZROK OTKAZA CILINDRINIH ELEMENATA

VAZDUHOPLOVA - STUDIJE SLUAJA
Dragan Trifkovi1, Branimir Krsti2, Dajana Vujanovi3
Rezime: U ovom radu su, kroz dve studije sluaja, prikazani rezultati ekspertske analize
uzroka otkaza cilindrinih elemenata vazduhoplova izazvanih korozijom. Prva studija
sluaja se odnosi na lom vratila krmila pravca mlaznog borbenog aviona, a druga na lom
poprene grede stajnog trapa vojnog helikoptera. Analiza je sprovedena makro i
mikrofragtografskom pregledom prelomnih povrina, metalurkim ispitivanjem materijala
kao i numerikim proraunima naponskih stanja. U oba sluaja su prsline inicirane na
korozionim jamama nastalim na mestima podlonim atmosferskim uticajima i
koncentraciji napona. Predloene su i odgovarajue korektivne i preventivne mere za
spreavanje ponavljanja ili nastanka istog ili slinog otkaza.
Kljune rijei: analiza otkaza, cilindrini elementi, korozija, vazduhoplovi.
CORROSION AS A CAUSE OF FAILURE OF AIRCRAFT CYLINDRICAL

ELEMENTS CASE OF STUDIES
Abstract: The results of an expert analysis of failure cause of the aircraft cylindrical
elements is shown, through two case studies, in this paper. The first case study is related
to the rudder shaft fracture of a jet fighter while the second one is reffered to the cross
tube fracture of a landing gear of a military helicopter. The analysis is carried out by
macro and microfractographic inspection of fracture surfaces, metallurgical examination
of material as well as numerical calculations of stress states. In both cases, cracks are
initiated on corrosion pits that were formed on sites that are suspectible to atmospheric
influence and stress concentration. The appropriate corrective and preventive measures
to prevent recurrence or occurrence of the same or similar failure are proposed.
Key words: failure analysis, cylindrical elements, corrosion, aircrafts.
1 Dr Dragan Trifkovi, docent, Univerzitet odbrane u Beogradu, Vojna akademija, Beograd, Republika Srbija,
dragan.trifkovic@va.mod.gov.rs
2 Dr Branimir Krsti, docent, Univerzitet odbrane u Beogradu, Vojna akademija, Beograd, Republika Srbija,
branimir.krstic@va.mod.gov.rs
3 Dajana Vujanovi, student, University of North Florida, Jacksonville, Florida, USA, dajvuj@aol.com
71
Dragan Trifkovi, Branimir Krsti, Dajana Vujanovi
1 UVOD
U vazduhoplovnoj industriji problemima korozije konstruktivnih elemenata letilica
posveuje se velika panja u svakoj fazi njihovog ivotnog ciklusa. Kada je u pitanju
odravanje vazduhoplova poseban problem predstavlja nemogunost ranog otkrivanja
mesta nastanka nekih vrsta korozije, kao to su npr. jamiasta ili interkristalna korozija
koje mogu biti praene i korozionim zamorom [1]. Korozija tankozidih metalnih
elemanata, kao to su razne vrste cevi ili vratila prstenastog poprenog preseka moe
izazvati lomove ovih elemenata sa ozbiljnim posledicama po posadu, letilicu i ivotnu
sredinu. Kada se dogode ovakvi i slini otkazi angauju se ekspertski timovi koji nastoje
da utvrde taan uzrok otkaza i predloe preventivne i korektivne mere da se sprei
ponavljanje istog ili nastanog novog otkaza. Danas se u svetu razvijaju razne
metodologije za forenziku analizu uzroka otkaza a primeri njihove primene dati su kroz
dve sledee karakteristine studije sluaja.
2 PRVA STUDIJA SLUAJA LOM VRATILA KORMILA PRAVCA MLAZNOG

AVIONA
U ovoj studiji sluaja razmatran je otkaz vratila kormila pravca u vertikalnom
stabilizatoru mlaznog borbenog aviona [2]. Iako se lom vratila dogodio u toku leta aviona
pri emu je izgubljena kontrola rotacije aviona oko vertikalne ose pilot je uspeo da
bezbedno prizemni avion. Redovnim pregledima aviona pre otkaza, u skladu sa
propisanom procedurom odravanja, nisu otkriveni nikakvi tragovi oteenja vratila. Do
trenutka otkaza vratilo je radilo ukupno 1150 asova leta bez vidljivih mehanikih i
korozionih oteenja na spoljanjim povrinama. Vizuelnim pregledom vratila nakon
demontae, pored poprenog loma kojim je vratilo polomljeno na dva dela, uoena je
prslina du ose vratila. Veim delom vratilo je prstenastog poprenog preseka, dok je
krai deo sa ozubljenjem krunog poprenog preseka (slika 1.).
Slika 1. Izgled polomljenog vratila: (a) pozicija poprenog loma i uzdune prsline, (b)
popreni lom i (c) uzduna prslina
Posredstvom dve prirubnice i torzione cevi vratilo je, u vertikalnom poloaju sa

ozubljenjem usmerenim nanie, zakivanim vezama spojeno za rebra kormila. Takav
72
Korozija kao uzrok otkaza cilindrinih elemenata vazduhoplova - studije sluaja
poloaj je pogodovao dugogodinjem sakupljanju i zadravanju vode i vlage u

unutranjosti vratila to je pospeilo dubinsku piting koroziju. Takoe, vratilo nije bilo
zatvoreno odozgo niti je bilo napunjeno mau za zatitu od vlage. Spoljanja povrina
vratila je bila zatiena tankim antikorozionom metalnim zatitnim slojem. Korozione
jamice u donjoj zoni vratila, tj. u blizini prelaska cilindrinog u kruni popreni presek su
dostizale dubinu koja odgovara skoro polovini debljine zida vratila. Uzduna prslina se
protezala izmeu poprenog loma i otvora za zakivak. Kako bi se izvrila analiza
povrine uzdune prsline vratilo je preseeno na dve uzdune polutke. Prisustvo korozije
na povrinama poprenog loma, uzdune prsline i na unutranjim povrinama zida
vratila, kao i sama injenica da postoje, ustvari, dva loma oteavalo je analizu uzroka
loma i zahtevalo odgovor na sledea dva pitanja. Najpre je trebalo razreiti dilemu
redosleda dogaaja, tj. ta se prvo desilo, razvoj uzdune prsline ili popreni lom. Potom
je trebalo otkriti mesto nastanka prsline i utvrditi mehanizam irenja. Zbog toga je analiza
obuhvatala proveru mehanikih i hemijskih svojstava materijala, metalografski pregled
povrina loma, kao i analizu naponskog stanja trodimenzionalnog modela vratila
metodom konanih elemenata. Ispitivanja uzoraka materijala sa neoteenog dela
vratila su pokazala da mehanika svojstva i hemijski sastav materijala odgovaraju eliku
od koga je vratilo napravljeno (St. 1.7784 DIN standard, otputeni martenzit). Izmerena
srednja vrednost tvrdoe po Vikers metodi iznosila je 548 HV.
Makro i mikrofraktografski pregledi povrina loma obavljeni su pomou optikog,
odnosno skenirajueg elektronskog mikroskopa (Philips 515 SEM). Izgled povrine
poprenog loma prikazan je na slici 2 (a). Zupast karakter loma i velika hrapavost
povrine loma su tipine karakteristike torzionog loma usled prevelikog momenta
uvijanja. Prisustvo produkata korozije na povrini loma, izuzev zupastog dela (svetla
povrina oznaena na slici isprekidanom zatvorenom izlomljenom linijom) navodi na
zakljuak da zupasti lom predstavlja zavrnu fazu poprenog loma. itava povrina
uzdune prsline je bila prekrivena produktima korozije, pre svega fero-oksida i re.
Pored toga reljef hrapave povrine loma je bio plastino deformisan zbog kontakta
(gnjeenja) razdvojenih povrina u toku rada vratila do potpunog otkaza (poprenog
loma). Naalost, na ovaj nain su oteeni veoma vani tragovi za utvrivanje
mehanizma irenja prsline. Meutim, detaljnim pregledom povrine uzdune prsline
primeeni su tragovi zamornog loma u zoni oko otvora za zakivak (slika 2 (b)). Mesto
verovatnog nastanka prsline je koroziona jamica na ivici otvora za zakivak.
Slika 2. Izgled poprenog i uzdunog loma: (a) Zupast karakter poprenog loma
vratila. (b) Mesto nastanka uzdune prsline sa vidljivim tragovima zamora.
73
Na snimku unutranje povrine vratila pre rasecanja, napravljenog pomou

video endoskopa (Olympus), mogu se uoiti velike korozione jame na pravcu prostiranja
uzdune prsline (slika 4). Oigledno je da se prslina irila od jedne do druge velike
korozione jame, poev od otvora za zakivak prema donjoj zoni vratila gde se dogodio
popreni lom.
Slika 4. irenja uzdune prsline Slika 5. Snimak povrine poprenog loma pomou
elektronskog skenirajueg mikroskopa
Pregledom uzorka povrine poprenog loma pomou skenirajueg elektronskog

mikroskopa potvrena je ranija pretpostavka da je mehanizam zavrnog poprenog
loma preoptereenje. Na slici 5. pod velikim uveanjem vidljivi su tragovi neravnina
karakteristinih za lom izazvan prevelikim optereenjem.
Iz dosadanje analize se moe zakljuiti da je najverovatnije prslina zapoela
irenje iz korozione jamice na ivici otvora za zakivak, te da se dalje kretala od jedne do
druge velike korozione jame niz vratilo do donje zone vratila. U ovoj zoni dolazi do
postepenog poveanja debljine zida vratila usled prelaska cilindrinog preseka u pun
kruni presek tako da je prskotina promenila smer za 90. Izgled povrine poprenog
loma pokazuje da je vratilo popreno puklo usled preoptereenja, a ne zamora
materijala. Sa druge strane, poetni mehanizam irenja uzdune prsline je oigledno
korozioni zamor materijala, s tim da ostaje otvoreno pitanje da li je na mestu inicijacije
prsline postojala i koncentracija napona. Da bi se ova dilema otklonila bilo je neophodno
na modelu vratila izvriti i naponsku analizu.
Primenom linearne metode konanih elemenata izvrena je analiza naponskog
stanja sklopa vratilo-torziona cev. Usled dejstva aerodinamikih sila na povrinu
otklonjenog kormila pravca od neutralnog poloaja, dominantno spoljanje optereenje
vratila kormila je moment uvijanja. Za maksimalan otklon kormila najvea projektovana
vrednost momenta uvijanja, uzimajui u obzir i zahtevani stepen sigurnosti, je 569,3 Nm.
Ovo optereenje je na modelu uvedeno preko ozubljenja na drugom kraju vratila. Na
osnovu Von Mises hipoteze, za maksimalno optereenje vratila, dobijena su naponska
polja koja su otkrila izaenije zone koncentracije napona na mestu redukcije prenika
dela vratila krunog poprenog preseka i oko donjeg reda otvora za zakivke. Maksimalna
vrednost napona (2979 MPa) se javlja na ivici donjeg otvora za zakivak (slika 6). Prema
specifikaciji proizvoaa materijala vratila dozvoljen maksimalan napon je 1500 MPa.
74
Slika 6. Detalj raspodele napona u zoni otvora za zakivak na vratilu
Pretpostavljajui da se otkaz vratila nije desio trenutno, ve da se prvo razvila

uzduna prslina izmeu donjeg otvora za zakivak i zone prelaska cilindrinog u kruni
popreni presek (mesto poveane vrstoe vratila) na 3D modelu vratila je simulirana
uzduna prslina slinog oblika i dimenzija stvarnoj uzdunoj prslini na slomljenom vratilu.
Izgled naponskog polja vratila za pretpostavljeni scenario loma vratila prikazan je slici 7.
Velika vrednost koncentrisanog napona na kraju uzdune prsline (8395 MPa) je
omoguila razvoj prsline u poprenom smeru vratila.
Slika 7. Raspodela napona vratila sa uzdunom prslinom
3 DRUGA STUDIJA SLUAJA LOM POPRENE GREDE STAJNOG TRAPA

HELIKOPTERA
Druga studija sluaja prikazuje analizu otkaza stajnog trapa lakog
vienamenskog helikoptera koji se sastoji od prednje i zadnje poprene cevi koje su
elastinim cevastim elementima spojene sa levom i desnom skijom (slika 8). Svi sastavni
elementi stajnog trapa izraeni su od aluminijumske legure, dok je zadnja poprena
greda napravljena od elika visoke vrstoe AISI 4135.
75
Slika 8. Sklop stajnog trapa helikoptera: 1 - desna skija, 2 - leva skija, 3 - prednja
poprena greda, 4 - zadnja poprena greda, 5 - cevasti elastini elastini elementi
stajnog trapa, 6 - stega, 7 - prirubnica.
Otkaz stajnog trapa dogodio se dok je helikopter bio parkiran na zemlji a uzrok
je pucanje zadnje poprene grede [3]. Veza izmeu zadnje poprene grede stajnog trapa
helikoptera i cevastih elastinih elemenata ostavrena je pomou dve prirubnice koje su
stegama privrene za zadnje elastine elemente (detalj A na slici 8). Prirubnice su
mainskim putem izraene od elika AISI 4135 i TIG postupkom zavarivanja zavarene
na zadnju cev (Slika 9a).
Slika 9. (a) Dimenzije prirubnice zadnje poprene grede stajnog trapa helikoptera. (b)
ematski prikaz (pogled odozgo) poloaja loma.
Do trenutka nastanka otkaza, helikopter je ukupno ostvario 778 asova naleta i

1406 sletanja (poletanja), odnosno 233 asa naleta i 606 sletanja (poletanja) od
poslednjeg remonta. Vizuelnim pregledom na licu mesta oteenog stajnog trapa
helikoptera utvren je lom zadnje poprene grede u zoni cilindrinog dela prirubnice
(Slika 9b). U oblasti loma uoena su znaajna koroziona oteenja kao i mehanika
oteenja zatitnog, antikorozionog sloja na spoljanoj povrini grede koja su
nedvosmisleno posledica meusobnog kontakta prirubnice i stega. Zatitni sloj na
unutranjoj povrini grede nije bio oteen.
Makroskopski pregled prelomnih povrina otkrio je postojanje dve morfoloki
jasno uoljive oblasti (sektori A i B na slici 10a ). Oblast A prelomne povrine je prilino
76
ravna i upravna u odnosu na uzdunu osu zadnje poprene grede. Znaajan deo ovog
sektora prekriven je crvenkasto braonkastim produktima korozije, to direktno ukazuje
na injenicu da je taj deo prelomne povrine bio najdue izloen uticaju spoljanje
okoline tj. da to predstavlja mesto iniciranja poetne prsline. Sektor B odlikuje se
krupnijom morfologijom i prelomna povrina je pod uglom od priblino 45 u odnosu na
uzdunu osu grede, to sugerie duktilni lom pod dejstvom zateznog optereenja [1].
Grebeni, u anglosaksonskoj literaturi poznatiji kao river marks, su takoe uoeni na
prelomnoj povrini u okviru sektora B (slika 10 b). Analizom pravca prostiranja uoenih
grebena na prelomnoj povrini takoe se dolazi do zakljuka da je lom iniciran u sektoru
A. Ova injenica ide u prilog pretpostavci da se mesto nastanka loma podudara sa
mestom na kome je uoena najvea prisutnost produkata korozije tj. centralni deo
sektora A. Takoe, imajui u vidu poloaj zadnje poprene grede u sklopu stajnog trapa
helikoptera treba napomenuti da je poetna prslina inicirana sa donje, spoljanje strane
grede. Tragovi zamora materijala nisu pronaeni i cikline promene optereenja prilikom
poletanja i sletanja helikoptera nisu bile od presudnog uticaja na pojavu loma. Do
konanog loma zadnje poprene grede dolo je pod dejstvom konstantnog optereenja
usled teine helikoptera, kada je greda bila izloena savijanju i kada je preostali deo
poprenog preseka dostigao svoju kritinu vrednost.
Slika 10. (a) Karakteristine morfologije na prelomnoj povrini. (b) Uveani prikaz
sektora B prelomne povrine sa jasno uoljivim grebenima (river marks).
Mikrofraktografski pregled prelomnih povrina obavljen ja na skenirajuem

elektronskom mikroskopu (SEM) JEOL JSM-6610LV. Na spoljanjoj povrini centralnog
dela sektora A uoene su brojne korozione jamice kao i znaajne naslage produkata
korozije ijom je EDS analizom utvreno prisustvo hlora, sumpora, natrijuma i kalcijuma.
Mehanizam loma u delu A prelomne povrine je kombinovanog tipa i sastoji se od
intergranularnog i transgranularnog loma (slika 11 (a)). Deo B prelomne povrine
odlikuje se postojanjem duktilnih rupa (ductile dimples) koje ukazuju na lom izazvan
prevelikim zateznim optereenjem (slika 11 (b)).
77
Slika 11. (a) SEM snimak prelomne povrine sektora A sa intergranularnim (IG) i
transgranularnim (TG) lomom. (b) Duktilne rupe na SEM snimku u sektoru B
Metalografska ispitivanja izvrena su na uzorcima uzetim iz uzdunog (na mestu

nastanka loma) i poprenog (neposredno ispod mesta nastanka loma) preseka grede
pod svetlosnim mikroskopom Leitz-Metalloplan. U uzorku uzetom iz uzdunog preseka
grede (na mestu nastanka loma), uoen je vei broj sekundarnih prslina (slika 12 (a)),
dok su u uzorku uzetom iz poprenog preseka grede (neposredno ispod mesta nastanka
loma) registrovane korozione jamice iz koji se dalje ire mikroprsline (slika 12 (b)).
Otkriveni detalji na metalografskim uzorcima karakteristini su za naponsku koroziju [4].
Mikrostruktura uzoraka odgovara strukturi martenzitnog elika. Metalurke nepravilnosti
nisu pronaene.
Slika 12. (a) Mesto na kome su uzeti uzduni uzorci i mikrosnimak sekundarnih prslina.
(b) Mikrosnimak korozione jamice sa dve inicirane mikroprsline.
Hemijska analiza materijala od kojeg je greda izraena izvrena je metodom

rendgenske fluoroscentne spektrometrije (XRF) i dobijeni rezultati pokazuju da hemijski
sastav materijala grede u potpunosti odgovara hemijskom sastavu eline legure AISI
4135, odnosno greda je napravljena prema proizvoakoj specifikaciji (Tabela 1).
Tvrdoa materijala je izmerena Vickers metodom prema standardu JUS C.A4.033. i
dobijeni rezultati odgovaraju tvrdoi elika AISI 4135.
78
Tabela 1. Hemijski sastav materijala zadnje grede stajnog trapa helikoptera

Element [%]
Cr Mn Si Mo C S P Fe
Materijal grede 0.88 0.81 0.22 0.24 0.34 0.02 0.01 Bal.
0.80-
AISI 4135 0.70-0.90 0.15-0.30 0.15-0.25 0.33-0.38 0.040 0.035 Bal.
1.10
U softverskom paketu CATIA V5-6R2013 razvijen je trodimenzionalni solid

model kompletnog stajnog trapa helikoptera, slika 13.
Slika 13. Trodimenzionalni solid model stajnog trapa helikoptera
Kada je helikopter parkiran na aerodromu stajni trap je izloen dejstvu sile teine
praznog helikoptera (W=1050daN) iji je uticaj predstavljen ekvivalentnim sistemom sila
(FA i FB na slici 13) koje deluju na elemente kojima je stajni trap privren za trup
helikoptera. vorovi leve i desne skije helikoptera koji su u neposrednom kontaktu sa
tlom su fiksirani. Dobijeni rezultati pokazuju da je lom grede iniciran upravo na mestu
maksimalnog napona zatezanja u prirubnici (slika 14).
Slika 14. Naponsko stanje prirubnice
79
4 ZAKLJUCI
Na osnovu prikazanih rezultata fraktografskih, metalografskih i hemijskih
ispitivanja uzoraka polomljenih elemenata moe se zakljuiti sledee:
Uzduna prslina na vratilu aviona je inicirana na korozionoj jamici lociranoj
na ivici otvora za zakivak. Poetni mehanizam irenja prsline je zamor
materijala, pri emu je prslina napredovala du ose vratila od jedne do druge
velike korozione jame sve do zone zavrnog poprenog loma. Predlae se
izbor drugog materijala i bolja zatita od atmosferskih uticaja.
Lom zadnje poprene grede stajnog trapa helikoptera posledica je dejstva
naponske korozije izazvane agresivnom sredinom. Mesto nastanka loma su,
takoe, korozione jamice pa se predlae zatita slojem visoke otpornosti na
mehaniko habanje kao i ei pregled stajnog trapa.
LITERATURA
[1] Rokhlin, S.I., Kim, J.Y., Nagy, H., Zoofan, B. (1999). Effect of pitting corrosion on
fatigue crack initiation and fatigue life. Engineering fracture mechanic 62, 425-444.
[2] Trifkovic, D., Stupar, S., Bosnjak, S., Milovancevic, M., Krstic, B., Rajic, Z., Dunjic,
M. (2011). Failure analysis of the combat jet aircraft rudder shaft. Engineering failure
analysis 18, 1998-2007.
[3] Krstic, B., Rebhi, L., Trifkovic, D., Khettou, N., Dodic, M., Peric, S., Milovancevic, M.
(2016). Investigation into recurring military helicopter landing gear failure.
Engineering failure analysis 63, 121-130.
[4] Jones, R.H. (1992). Stress-corrosion cracking: caterials performance and
evaluation, ASM International.
80
_____________________________________________________________________________
ANALYSIS OF POSSIBILITIES FOR THE STATIC DECOUPLING

CONTROL APPLICATION IN TITO SYSTEMS
Saa Prodanovi1 , Novak Nedi2
Abstract: System stability and its as good as possible performance are always actual
issues. Present paper contains analysis of the multivariable control systems. Their
variant with two inputs and two outputs (TITO) has been researched here. Control
effectiveness for this kind of objects in many cases depends on appropriate decoupler.
There are several types of the decoupling control that are available in literature, until
now. One of them refers to the usage of static decoupling. Its applicability was tested in
this survey. Analysis has been supported by simulations and carried out on the two
objects: one with delay time and another without it.
Key words: Decentralized controller, Static decoupling control, TITO system.
1 INTRODUCTION
Mutual coupling in the industrial systems causes a lot of problems in terms of
their controllability. Consideration of their multi-variability creates preconditions for
good system control [1,2]. Adequate decoupling control in many cases enables stability
and good system performance. There are several various decoupler types [3]. Direct
decouplers can be ideal and simplified. Ideal one has simple apparent process but
more complicated decoupler elements. In the simplified type the situation is reversed.
Their disadvantages for some objects can be compensated using inverted decoupler
[4]. Static decoupling has been explained in [5,6]. Advantages that can be
accomplished using static decoupler are researched and presented in this paper.
Potential lacks of this decoupling approach are identified too. Two kinds of objects
have been considered here. The first one, binary distillation column as a representative
of industrial processes and time-delay systems (infinite dimensional) has been
identified by Wood and Berry [7]. The second one, cantilever beam connected with
electrohydraulic servo actuators, was taken as a mechanical system without delay time
(finite dimensional), Singer and Meashio [8]. Both of these objects were presented as a
TITO systems. Their control algorithm is consisted of decentralized controller and
decoupler.
1 Dr Saa Prodanovi, East Sarajevo, University of East Sarajevo, Faculty of Mechanical Engineering,
sasa.prodanovic77@gmail.com (CA)
2 Prof. dr Novak Nedi, Kraljevo, University of Kragujevac, Faculty of Mechanical and Civil Engineering in
Kraljevo, nedic.n@mfkv.kg.ac.rs
81
Saa Prodanovi, Novak Nedi
2 DECOUPLING CONTROL
At the beginning of this section the types of decoupling control are presented.
Beside that, modified static decoupler has been proposed. The transfer function matrix
of the researched TITO objects is given by (1).
g s g12 s
G s 11 (1)
g 21 s g 22 s
where are: gij(s) elements of transfer function matrix.
2.1 Direct decoupling

Control algorithm which includes direct decouper and decentralized controller is
shown in Figure 1. Simplified direct decoupling, which is one of the compared
approaches in this investigation, has decoupling matrix (2), where dij(s) are elements of
decoupler [4]. Its apparent matrix is given by (3).
g12 s
d12 s
1
1 g11 s
Ds
1 g 21 s
(2)
d 21 s 1
g 22 s
g 21 s g 12 s
g11 s 0
g 22 s
Qs G s Ds (3)
g 21 s g 12 s
0 g 22 s
g 11 s
Figure 1. Direct decoupling control for TITO object [9]
2.2 Inverted decoupling

This decoupling approach exploits advantages of the ideal and simplified
decoupling. That means, its expressions for decoupler and apparent matrix are pretty
simple and presented with (2) and (4), respectively. This fact makes easier controller
design because diagonal elements of apparent matrix Q(s) are significantly simpler in
82
Analysis of possibilities for the static decoupling control application in TITO systems
the (4) than in the (3). Structural diagram of the inverted decoupling combined with
decentralized controller for TITO object is shown in Figure 2.
g s 0
Qs G s Ds 11 (4)
0 g 22 s
Figure 2. Inverted decoupling control for TITO object [4]
2.3 Static decoupling

The tendency that decoupler enters as less as possible dynamic into control
system has been led to researching of possibilities for introduction of static decoupler.
The methodology, where it is given by D=G-1(0), is presented in the [5,6]. In contrast to
that, this approach was applied in [10] and it is based on modification of (2) in the
following manner:
g12 0 g 21 0
d12 s s 0
| , d 21 s s 0
| (5)
g11 0 g 22 0
This approach makes easier decoupler design because its elements become gains.
3 EXAMPLES
System performance which are obtained using static decoupling, have been
researched on the two objects. In fact, comparison was carried out between variants
with dynamical characteristics of decoupler and the static decoupling. In the both of
them the same controllers were used in order to enable comparability.
3.1 Time-delay system

The first example is binary distillation water-methanol column. Transfer function
matrix (6) and (7) of this process has been experimentally determined by Wood and
Berry [7].
X D s Rs
G s (6)
B
X s S s
83
12,8 s 18,9 3s
16,7s 1 e 21s 1
e
G s (7)
6,6 e 7 s 19,4 3s
e
10,9s 1 14,4s 1
Where: R(s) reflux flow rate and S(s) steam flow rate in the reboiler are inputs of the
process, while XD(s) percentage of methanol in the distillate and XB(s) percentage of
methanol in the bottom products are outputs of the process. Reference functions for
both system outputs are unit step functions. Simplified direct decoupler has been used
for this object (Figure 1). Elements of the decoupler calculated according (2) are [11]:
16,7s 1 2 s 14,4s 1 4 s
d12 s 1,47 e , d 21 s 0,34 e (8)
21s 1 10,9s 1
while static decoupler according (5) is d12 s 1,47 ; d 21 s 0,34 .

Decentralized diagonal controller is consisted of two single loop PID controllers [11]:
PID 1 Kp1 = 0,2302; Ki1 = 0,0575; Kd1 = 0,1004 and PID 2 Kp2 = -0,0675; Ki2 = -0,01912;
Kd2 = -0,01. System responses that were obtained by simulation of control algorithm
according Figure 1. in the software Matlab are shown in Figure 3.
Figure 3. Responses of the Wood and Berry binary distillation column
In Figure 3. is obvious that static decoupling gives worse performance of the both
responses. This is reflected in the higher overshoot and lower process speed.
3.2 System without delay time

Cantilever beam connected with two electrohydraulic servo actuators is
intended for structural testing. This example serves to research mechanical object,
where elastic properties of the cantilever beam causes significant interaction between
cylinders in their contact points with it. System inputs are reference values of the forces
Fr1 (unit sine function) and Fr2 (unit step function). Its outputs are actual forces values
84
Analysis of possibilities for the static decoupling control application in TITO systems
on the cylinder rods F1 and F2 from their sensors. Mathematical model of this system
(9) has been determined by Singer and Meashio [8].
1 g11 s g12 s
G s
s g 21 s g 22 s
g11s 2,926 102 s 4 1,9152 104 s3 1,2667 107 s 2 5,5825 107 s 4,7959 109
g12 s 3,8382 104 s 3 1,7068 107 s 2 8,3584 107 s 6,4967 109 (9)
g21s 4,4533 10 s 3,2461 10 s 1,4362 10 s 1,2403 10
3 3 6 2 7 9
g 22 s 2,506 102 s 4 1,6229 104 s3 6,6134 106 s 2 3,0476 106 s 2,4813 109
s s5 1,2308 102 s 4 6,993 104 s3 1,5098 106 s 2 3,5504 108 s 8,2333 106
In this example an inverted decoupler is applied (Figure 2). Its elements are:
3,8382 10 s 1,7068 10 s 8,3584 10 s 6,4967 10

4 3 7 2 7 9
d12 s 2 4 4 3 7 2 7 9
2,926 10 s 1,9152 10 s 1,2667 10 s 5,5825 10 s 4,7959 10
(10)
4,4533 10 s 3,2461 10 s 1,4362 10 s 1,2403 10
3 3 6 2 7 9
d 21 s 2 4 4 3 6 2 6 9
2,506 10 s 1,6229 10 s 6,6134 10 s 3,0476 10 s 2,4813 10
Static decoupler for this case according (5) is: d12 s 1,35 ; d 21 s 0,5 .
Elements of the decentralized controller are two single loop P controllers [10]:
Kp1=0,969 and Kp2=0,84. Using configuration in Figure 2. simulation gives system
responses shown in Figure 4.
Figure 4. Responses of the electrohydraulic servosystem for structural testing
Responses in Figure 4. confirm that static inverted decoupler make control of this
object possible, because clasical inverted decoupling gives unstable system. It also
enables good reference tracking and effective compensation of interaction.
85
4 CONCLUSION
Presented results of the simulations partly support the application of static
decoupling control. Namely, it can enable good results for high-order systems without
time delay, because it eliminates additional dynamics that is introduced through the
decoupler calculated according (2). Moreover, such dynamics can cause system
instability. Regarding to the time-delay systems, proposed approach to static
decoupling control gives poor performances, due to neglecting of the time delays in the
decoupler elements.
Diversity of these researched objects, in term of their nature, mathematical
description and variation in types of decoupler (direct or inverted) where static
decoupling was applied, lead to the conclusion that unique features of each object
have to be considered in the forming of control algorithm. Therefore, these presented
results are little contribution to problematic of decoupler design. More general rules can
be derived after proving mentioned statements through the testing of more system
examples from industry.
REFERENCES
[1] Skogestad, S. and Postlethwaite, I. (2005). Multivariable Feedback Control: Analy-
sis and Design, 2nd ed. John Wiley & Sons, Chichester.
[2] Debeljkovi, D.Lj., Muli, V.S. (2004). Modern linear continuous multivariable
systems theory, igoja - tampa, Belgrade, (in Serbian).
[3] Morilla, F., Garrido, J., Vzquez, F. (2013). Multivariable decoupling control,
Revista Iberoamericana de Automtica e Informtica industrial, vol. 10, p.p. 3-17,
(in Spanish).
[4] Garrido, J., Vzquez, F., Morilla, F., Hgglund, T. (2010). Practical advantages of
inverted decoupling, J. Systems and Control Engineering, vol. 225, p.p. 977-992.
[5] Lee, J., Kim, D.H., Edgar, T.F. (2005). Static Decouplers for Control of
Multivariable Processes, AIChE Journal, vol. 51, no. 10, p.p. 2712-2720.
[6] strm, K.J., Johansson, K.H., Wang, Q.G. (2002). Design of decoupled PI
controller for two-by-two systems, IEE Proc.: Control Theory Appl., vol. 149, no. 1,
p.p. 74-81.
[7] Wood, R.K., Berry, M.W. (1973). Terminal composition control of binary distillation
column, Chem. Eng. Sci., vol. 28, p.p. 1707-1717.
[8] Singer, G., Meashio, Y. (1995). Analysis of a double actuator electrohydraulic
system for structural testing. IEE, Savoy Place, London.
[9] Morilla, F., Vzquez, F., Garrido, J. (2008). Centralized PID control by decoupling
for TITO processes, in Proceedings of the 13th IEEE International Conference on
Emerging Technologies and Factory Automation, Hamburg, Germany, p.p. 1318-
1325.
[10] Prodanovi, S., Nedi, N. (2016). Control improvement of a double actuator
electrohydraulic servosystem for structural testing, in Proceedings of the 15th
Youth Symposium on Experimental Solid Mechanics YSESM 2016, Rimini, Italia,
(in press).
[11] Prodanovi, S.Lj., Nedi, N.N.,. Filipovi, V.., Dubonji, Lj.M. (2016). Modified
approach to distillation column control. Hem. Ind.,
DOI:10.2298/HEMIND160326028P, (in press).
86
_____________________________________________________________________________
DESIGN AND DEVELOPMENT OF EXPERIMENTAL SETUP FOR

ANALYSIS AND SYNTHESIS OF CONTROL LAWS IN
MANIPULATOR CONTACT WITH ENVIRONMENT
Jovan ulc1, Vule Relji2, Brajan Baji3, Dragan elija4
Abstract: This paper contains a description of experimental setup and also shows
possibilities for practical realization of different contact tasks. Experimental setup
(programmable pneumatic manipulator) is designed, developed and realized as a test
bed for examination of new control systems and laws as well as issues related to the
different type of products machining process. Manipulator uses two types of energy,
pneumatic for executive parts that are implemented in experimental setup and electrical
for programmable logic controller (PLC) as well as electro-pneumatic valves and
sensors. In the future, manipulator will be used to improve the accuracy and efficiency
of the system for automatic machining process of products and to provide useful
reference so that the development of automatic machining system that uses compressed
air gets as close as possible to CNC machines.
Key words: Experimental modular construction, Pneumatic control, Programmable

pneumatic manipulator.
1 INTRODUCTION
In order to solve complex manufacturing problems at the beginning of the 21st
century,the existance of restrictions for development and application of new production
technologies has been observed [1]. The main problem which is necessary to solve is
how to provide products automation machining process that are produced in quantities
that are not large enough to be economically profitable to implement a hard automation.
In these cases it is recommended to use an application of industrial robots and other
programmable manipulators. Requirements for the production of small quantities of
products that are made in a large number of variants lead to applying of programmable
automated manipulators and equipment which can respond well to the set requirements.
From the control point of view, especially interesting becomes a case when
programmable devices (standard industrial robots, programmable pneumatic or
1
PhD, dr Jovan Sulc, Faculty of Technical Science, Novi Sad, Serbia, sulc@uns.ac.rs
2 Asisstant - master, Vule Reljic, Faculty of Technical Science, Novi Sad, Serbia, vuketa90@uns.ac.rs
3 Asisstant - master, Brajan Bajci, Faculty of Technical Science, Novi Sad, Serbia, brajanbajci@gmail.com
4 Full time professor, dr Dragan Seslija, Faculty of Technical Science, Novi Sad, Serbia, seslija@uns.ac.rs
87
Jovan ulc, Vule Relji, Brajan Baji, Dragan elija
hydraulic manipulators, etc.) are using for the purposes of performing certain operations
of machining process [2, 3, 4]. These operations can be following:
deburring,
edge trimming, removing a remaining small pieces of material from
workpiece,
cleaning surfaces from the rust and remains from the previous machining,
gouging grooves,
machining of flat surfaces with reqirements for obtaining the appropriate
profiles, etc.
Constrained or contact task motion occurs when manipulator, instead of free
movement, interacts with the environment and expresses an appropriate influence force
on it [5, 6]. In the tasks of products machining process, such as cutting, deburring and
polishing, the appearance of a force in the direction of cutting is an inseparable part of
the process. These tasks are actually the basic closed contact tasks. Examples of such
tasks are cutting processes (turning, drilling, milling, planing, grinding, polishing etc.)
because those processes require a mechanical contact between manipulator and other
objects.
A particular problem, that occurs in the execution of the following machining
process which are partially or fully automated, is control of manipulator which carries a
machining tool with certain characteristics by which it becomes possible to make the
required type of machining. A control problem of manipulator reduces to the problem of
positioning accuracy. Useful informations, for the establishment of errors and the
corresponding change in the previously defined motion of manipulator, will be provided
by measuring of the force. Programmable automation in producs machinig process
carries a lot of problems which must be solved in order to increase the level of
confidence, autonomy in work as well as their cost-effectiveness. The application of
programmable manipulators which uses the energy of compressed air is particularly
interesting because its accuracy is significantly improved and the cost has been reduced
in recent years.
This paper shows a description of experimental setup called programmable
pneumatic manipulator which is developed on Faculty of Technical Sciences in Novi Sad
and possibilities for practical realization of different contact tasks. The work is presented
in the following manner. Section 2 gives a basics for development experimental station.
Section 3 shows a mechanical construction of two axis programmable pneumatic
manipulator as experimental setup. At the end, section 4 gives concluding remarks and
topics for future investigations.
2 BASICS FOR DEVELOPMENT OF EXPERIMENTAL SETUP

The experimental setup, which is proposed here, should be understood as part
of the general simulator contact tasks, or its partial hardware implementation. The goal
is to get a general experimental setup open configuration from a concept simulator
contact tasks. Thus conceptualized experimental setup enables obtaining an initial
results from any automated machining process problem that may occur in practice and
can be used for research of the problems of new advanced technologies as well [7].
The experimental setup should enable the dynamic analysis and synthesis of
control laws in programmable pneumatic manipulator contact with environment, which
are as close to industrial practice. In this regard, it is necessary to enable it to explore
the factors which influence on the machining processes at various control laws. It should
allow a mapping between set of variables to determine the characteristics of contact
tasks, applied tools and control law, as shown in Fig. 1.
88
Design and development of experimental setup for analysis and synthesis of control laws in
manipulator contact with enviroment
Fig. 1. Factors which affect on the execution of the contact task
During the design of the manipulator, important factors of interests are the price,
the accuracy and repeatability of manipulator. Also, it was necessary to take into the
account the possibility of realization of the proposed manipulator in terms of a
procurement of equipment.
3 MECHANICAL CONSTRUCTION OF PROGRAMMABLE PNEUMATIC

MANIPULATOR
3.1 Procedure of automatic planing

A research in this work will be carried out only in the proces of material removing
by planing because the application area of manipulators in contact tasks is very large.
In the process of automated planing (removal of material from the workpiece with linear
motion of the tool), manipulator carries a planing tool and along with that tool, acts on
the surface of the workpiece, taking into the uneven surface making indentations or
grooves. In this way, grooves with certain depth and arbitrary shapes can be made, but
within the limits of the maximum forces of planing process that can be realized by
pneumatic manipulator. As it is known, pneumatic actuators are characterized by
relatively small forces, especially when they are compared with hydraulic. In this way the
use of pneumatic manipulator is limited with maximum permissible force that actuators
can achieve. That is why automated processing of workpiece with pneumatic
manipulators can be applied where it is not required a large force, as it is the case in
penetrating tools in soft materials (wood, plastic, composite materials, aluminum, etc.)
3.2 Experimental setup

The basic elements of the manipulator, the actuators, are pneumatic rodless
cylinders that are using compressed air as a main source of power energy. With
programmable logic controller (PLC) and electro pneumatic valves a control of the
manipulator is carried out, by electrical energy. With such realization of programmable
pneumatic manipulator, it is possible to implement various types of control, such as pulse
width modulation (PWM) and proportional control. A 3D CAD model of the experimental
station is shown in Fig 2. The marked positions are represented with detail description
in the Table 1.
89
The basic elements from which is composed the structure of the programmable
pneumatic manipulator are aluminum profiles. These profiles are connected with
appropriate carriers and screw connections. The rodless pneumatic cylinders are
positioned and coupled at an angle of 90 relative to one another. In that case, a planar
positioning within the workspace is achieved. The stroke length of the cylinders amounts
to 200 mm while the piston diameter is 25 mm for both cylinders. According to that, the
workspace dimensions amounts to 200 mm of height and 200 mm of width. Positioning
within the workspace is carried out by using rectangular Cartesian coordinate space.
Using only two actuators the possible operations of the manipulator are limited to plannar
processing. Therefore, for the purpose of this work, a planar planing of workpiece is
selected as a machining process. During machining, contact occurs between the
manipulator and the workpiece. For the first experimental realization, it was selected the
workpiece with dimensions that can be processed on this experimental setup and they
are 50 mm of width, 20 mm of height and 100 mm of length.
Table 1. Specification of experimental components

Pos. Part description Type
1 PLC for proportional control (CPX) Festo - 50E-T06GCQST21T21YJ-Z
2 Clamp for workpiece clamping -
Linear encoder for vertical and horizontal
3, 13 MLO-POT-225-TLF
cylinder
4, 12 Vertical and horizontal cylinder DGPL-25-200-PPV-A-B-KF-KU-D2
5 PLC for PWM control Fatek FBs 24MAT2 D24
6 DAQ module for PWM control Fatek - FBs 4A2D
7 Valves for PWM control MHE3-MS1H-3/2G-1/8
8 Valves for proportional control Festo - VPWP-6-L-5-Q8-10-E-G
9 Workpiece Polyethilen (PE)
10 Machining tool High Speed Steel
11 Power supply Festo 220 to 24VDC
(a) (b)
Fig. 2. Experimental setup: (a) 3D Model, (b) Realized system
90
Design and development of experimental setup for analysis and synthesis of control laws in
manipulator contact with enviroment
3.3 Description of one working mode

Workpieces are manually placed in the clamping unit. One cycle of
programmable pneumatic manipulator movement is designed in that way so the
movement is executed in a circle, in a direction that is opposite from the direction of
clockwise.
A starting position of programmable pneumatic manipulator is in down-right
corner situated in vertical plane, where cylinders are placed. Verticaly implemented
pneumatic cylinder (position 4, Fig. 2(a)), begins its movement in the direction upwards.
After reaching exactly defined position, a horizontal cylinder receives command for
movement to the left. From the up-left position a vertical cylinder finishes his descending
movement and manipulator is ready for final moving and process of planning workpiece
with horizontal cylinder (position 12, Fig. 2(a)). At a specific time contact task motion
occurs when programmable pneumatic manipulator interacts with workpiece
(environment). After finishing machining process programmable pneumatic manipulator
gets to the initial position, one working cycle ends.
For easier understanding of manipulator operation mode, in Fig. 3 is shown the
travel-step trajectory. Planing task is a good and simple example of contact tasks but
beside that control of such contact tasks could not be realized in the usual manner.
Fig. 3. Pneumatic manipulator programming trajectory
4 CONCLUSION
This paper shows design and development of experimental setup and proposes
concept of control for programmabile pneumatic manipulator in contact tasks. Further
researches would be directed to the realization of second and third version of
programmable pneumatic manipulator, testing various types of pneumatic control and
development of complex robotic [8] cell which consists of pneumatic circular manipulator,
standard industrial robot and pneumatic or hydraulic programmable manipulator for
contact task. CAD model of this robotic cell is shown in Fig. 4. Realization of this cell will
enable new tests also in the field of energy efficieny and optimization of various
parameters.
91
Fig. 4. Components of Complex Automated Production Cell (C-APS)
REFERENCES
[1] elija D. 2016. From Remote Laboratories to Cloud Manufacturing, 7. International
Conference Life Cycle Engineering and Management-ICDQM, Prijevor: The
Research Center of Dependability and Quality Management, 29-30 Jun, pp. 22-31,
ISBN 978-86-86355-32-4.
[2] Chen Y., Dong F. 2013. Robot machining: recent development and future research
issues, International Journal of Advanced Manufacturing Technology, 66 (9-12):
1489 - 1497. doi:10.1007/s00170-012-4433-4.
[3] Lin FY., Lu TS. (2005). Development of a robot system for complex surfaces
polishing based on CL data, International Journal of Advanced Manufacturing
Technology, 26:11321137.
[4] Dai H., Yuen KM., Elbestavi J. (1993). Parametric modelling and control of the
robotic grinding process, International Journal of Advanced Manufacturing
Technology, 8 (3):182192.
[5] elija, D., Vukobratovic, M., 1998. On The Environment Dynamics Parameters In
Robotic Contact Tasks, Part I: Identification Of Forces, Stiffness And Damping In
Robotic contact Tasks. International Journal of Engineering and Automation,
Moscow, No 4, pp. 26-44.
[6] elija, D., Vukobratovic, M., 1999. On The Environment Dynamics Parameters In
Robotic Contact Tasks, Part II: Identification Of Forces, Stiffness And Damping In
Robotic contact Tasks. International Journal of Engineering and Automation,
Moscow, Vol. 1, No 1, pp. 20-36.
[7] Relji, V., elija, D., ulc, J., Baji, B., Dudi, S., Milenkovi, I., 2016. Modular
Construction of Circular Manipulator as a Test Bed for Testing Pneumatic Control,
The 9th international Symposium-KOD 2016 Machine and Industrial Design in
Mechanical Engineering, Balatonfured: Faculty of Technical Sciences , Novi Sad,
Faculty of Engineering, Szeged, 9-12 June, pp. 225-228, ISBN 978-86-7892-821-5.
[8] Ignjatovi, I.; Komenda, T.; elija, D.; Malia, V. 2013. Optimisation of
compressed air and electricity consumption in a complex robotic cell, Robotics and
Integrated Manufacturing, Vol. 29, No. 4, August 2013, 70-76, ISSN 0736-5845.
92
_____________________________________________________________________________
PROBLEM KONTAKTNE SILE U KONTROLNOM DIZAJNU

SERVISNIH ROBOTA
Zlata Jelai1
Rezime: Fizika interakcija izmeu pacijenta i terapeuta u toku rehabilitacije je sluila

kao motivacija pri dizajnu rehabilitacionih robota. Ipak, nedostaje fundamentalno
razumijevanje osnovnih pokretakih principa kod ovjek-ovjek interakcije. Postavlja se
otvoreno pitanje u vezi sa senzorimotornom interakcijom za vrijeme ovjek-ovjek
interakcije koja bi mogla biti osnova za dizajn ovjek-robot interakcije i haptikog
interfejsa za rahabilitaciju. Cilj ovog rada je da istraimo principe koji vode
senzorimotornu ovjek-ovjek interakciju kako bi definisali princip po kojemi bi ljudi
mogli da budu u interakciji sa robotima na jedan vie intuitivan i bioloki inspirisan
nain, to bi u krajnjem sluaju poboljalo rezultate rehabilitacije. Na osnovni zadatak,
prema tome, postaje problem interakcije robota sa okolinom, koji ovdje svodimo na
kontaktni problem.
Kljune rijei: interakcija ovjek-robot, kooperativna robotika, senzorimotorni sistem.
CONTACT FORCE PROBLEM IN THE SERVICE ROBOT CONTROL DESIGN

Physical interactions between patients and therapists during rehabilitation have served
as motivation for the design of rehabilitation robots, yet we lack a fundamental
understanding of the principles governing such human-human interactions. Here we
review the literature and pose important open questions regarding sensorimotor
interaction during human-human interactions that could facilitate the design of human-
robot interactions and haptic interfaces for rehabilitation. Our goal is to examine the
leading principles of the human-human interaction in order to define a way in which
people could be in contact with robots in a more intuitive and biologically inspired way.
Our main task is the robot interaction problem with the environment, which is here
reduced to a contact problem.
Key words: cooperative robotics, human-machine interface, senzorimotor system.
1 UVOD
Od tri oblika ponaanja kod ovjek-ovjek interakcije, definisanih od strane
1 M.Sc. Zlata Jelai, Vii asistent, Univerzitet u Sarajevu, Mainski Fakultet Sarajevo, jelacic@mef.unsa.ba
93
Zlata Jelai
Jarasse [1], kooperativna interakcija prevladava u rehabilitaciji. Ovdje su uloge voa-

sljedbenik ili uitelj-uenik unaprijed definisane. Meutim, velika veina prethodnog
istraivanja koje ukljuuje ovjek-ovjek interakciju se fokusira na sensorimotornu
kolaboraciju, gdje dvije individue imaju isti cilj ali nemaju unaprijed definisane uloge.
Dok senzorimotorna kooperacija i edukacija slue kao motivacija i osnov za
veliki broj reahabilitacionih intervencija od strane terapeuta i robota, gotovo da i nema
literature koja se bavi pitanjem sile interakcije izmeu pojedinaca u ta dva konteksta.
Na primjer, fizioterapeuti redovito pruaju haptiku povratnu informaciju pacijentima
tako to fiziki vode njihove pokrete tokom vjebe. Meutim, malo je poznato o tome
kako bi se ove sile trebale primjenjivati za poticanje motorikog uenja vjetina (tj.
kooperativna senzorimotorna edukacija). U istraivanju gdje se ispitivalo koje sile
fizioterapeuti primjenjuju tokom senzorimotornog treninga, Galvez [2] je utvrdio da
iskusni fizioterapeuti primjenjuju znatno razliite sile tokom treninga kod osoba s
ozljedom kimene modine, to je rezultiralo u razliitu kinematiku noge. Ikeura [3] je
takoer ispitivao karakteristike sile za vrijeme zadatka senzorimotorne asistencije, pri
emu se lagani predmet podie i nosi na relaciji od 15 centimetra. Kao i kod Galveza
[2], cilj eksperimenata nije bio ispitati kako sila interakcije doprinosi performansi
zadatka, nego kako okarakterisati sile koje se koriste u cilju razvijanja regulatora koji bi
oponaao ovo ponaanje [3].
U daljnjem radu moe biti korisno provjeriti da li poviena sila interakcije
olakava poboljanja u motornoj performansi za vrijeme dijade u odnosu na solo
izvedbu. Kako bi se dodatno istraila uloga poviene sile interakcije izmeu ljudskih
partnera i kako to moe uticati na motornu izvedbu, mogao bi se osmisliti jednostavan
eksperiment u kojem bi se testiralo nekoliko razliitih uslova. U svakom stanju poetna
sila interakcije (pritisak i istezanje) izmeu ljudskih partnera je sistematski razliita.
Motorna performansa svakog stanja se onda moe uporediti kako bi se ispitala uloga
poviene sile koje su uoene tokom ovjek-ovjek interakcije.
Za razliku od rada Galveza [2], koji je bio usredotoen na karakterizaciju sile
interakcije, veina studija u domeni senzorimotorne kooperacije se fokusiraju na
poboljanja performanse, zanemarujui pri tome sile interakcije sile koje nastaju
izmeu pacijenta i terapeuta ili trenera. Openito, senzorimotorna kooperacija ili fiziko
usmjeravanje je pokazalo da dolazi do poboljanja trenutne performanse jednostavnog
motornog zadatka, ali ova poboljanja obino nisu trajna i ne mogu se ekstrapolirati na
parformansu pojedinca. Primjena stalnog haptikog voenja moe suzbiti razvoj
detekcije greaka i procesa korekcije, stvarajui ovisnost o haptikoj intervenciji za
poboljanu motornu izvedbu. Stalno haptiko voenje moe takoer ograniiti
varijabilnost kretanja, za koju se smatra da je vana u procesu uenja motorike po
svojoj ulozi u kojoj doputa sudionicima da istrauju prostor moguih kretanja.
Generalizacija poboljanja performansi sa udruenih na individualne uslove moe biti
uinkovitija za sloene motorne zadatke koji su izazovniji, a posebno kad aspekti
sigurnosti predstavljaju opasnost. U takvim situacijama, haptiko voenje preko
kooperativne senzorimotorne edukacije moe poveati povjerenje pacijenata i smanjiti
zabrinutost za sigurnost, prua pojedincima priliku da identifikuju ne samo
najuinkovitije nego i najefikasnije strategije kretanja.
Tako ostaje znatna praznina u naem razumijevanju kako treba koristiti
haptike povratne informacije tokom senzorimotorne edukacije zarad ispravljanja
greke kretanja s ciljem promovisanja vjetine individualne performanse. Trenutno
nam nedostaje okvir i eksperimentalni podaci koji opisuju kako ljudi fiziki reaguju, a
jo manje kako terapeuti fiziki vode pacijenta tokom rehabilitacije. Kao rezultat toga
ne postoji vrsto znanstveno razumijevanje kako se to moe najbolje postii ili koje
principe robotika treba uzeti u obzir pri izradi robota za potrebe rehabilitacije.
94
Problem kontaktne sile u kontrolom dizajnu servisnih robota
2 PROBLEM INTERAKCIJE, ROBOT - OKOLINA

Druga polovina dvadesetog vijeka svjedoila je uspon robotskih i
automatizovanih sistema u industriji. U posljednjih desetak godina, s unapreenjem
kompjutera, a smanjenjem trokova hardvera i softvera, roboti nalaze primjenu u
razliitim poljima kao to su poljoprivreda, podvodni sistemi i nedavno u
domainstvima. Roboti koji se koriste u industriji su u poetku bili u mogunosti samo
izvravati jednostavne zadatke (npr. tzv. 'pick and place'), zbog nedostatka naprednih
mogunosti senzora. Zahvaljujui napretku u tehnologijama razvoja senzora, robotski
sistemi postaju sve inteligentniji a okruenja u kojima oni rade postepeno se mijenjaju
od isto statikih prema dinamikim. Primjeri takvih senzora su taktilni i senzori za
mjerenje sile kao i vizualni sistemi (npr. kamera). Kako robotski sisitemi postaju iroko
rasprostranjeni u razliitim domenima, od njih se oekuje da izvre raznolike i
zahtijevne zadatke. Kako bi ih uspjeno ostvarili, takvi sistemi trebaju da budu robusni i
sigurni, a trebali bi pokazati i odreenu razinu fleksibilnosti. Robotiki ili automatizovani
sistem se smatra robusnim, ako je sposoban za rad pod razliitim uslovima rada, bez
mijenjanja svoje poetne strukture. Roboti koji se koriste u industrijskim primjenama bi
trebali biti sigurni u smislu da oni ne smiju otetiti ni sebe ni predmete prisutne u svom
okruenju. Kod aplikacija gdje se roboti nalaze u blizini ljudi, sigurnost ljudi mora biti
zagarantovana. Fleksibilnost robotskog sistema je njegova sposobnost da se
implementira brzo i jednostavno, u sluaju izmjena proizvodnih ili drugih operativnih
zahtjeva. Posebnu skupinu ranije pomenutih sistema predstavljaju robotski
manipulatori, koji su u stvari mehanizmi koji se sastoje od lanaca krutih tijela (tzv.
veza) koji su meusobno zglobno povezani [4]. Vana skupina zadataka manipulacije
koji ukljuuju fiziku interakciju izmeu manipulatora i okolia su tzv. kontaktni zadaci.
Za uspjeno izvravanje takvih zadataka, manipulatori bi trebali poboljati senzorske
sposobnosti (npr. registracija snage prilikom interakcije) [5]. U sljedeim takama,
kontrola kontaktnog zadatka i kooperativna manipulacija e biti detaljno objanjeni.
2.1.1 Kontrola kontaktnog zadatka

Nakon uspjene primjene manipulatora u zadacima u kojima fizika interakcija
s okolinom nije glavna namjera, kao to su takasto zavarivanje, lakiranje i
paletiziranje, postalo je logino zapoeti analizu aplikacije robota u kontaktnim
zadacima. Kontrola kontaktnog zadatka je opseno istraivana u posljednja tri
desetljea [6, 7], s posebnom eljom za poveanjem autonomije manipulatora koji
djeluju u nestrukturisanim (ili polu-strukturisanim) okruenjima. U strukturisanom
okruenju, konfiguracija predmeta s kojim robot ostvaruje interakciju je tano poznata,
nenamjerni sudari se ne dogaaju, uslovi okoline (npr. rasvjeta, temperatura) ne
variraju znaajno i sl. Aplikacije kao to su takasto zavarivanje i lakiranje se mogu
realizovati preko unaprijed planiranih profila kretanja. Kontrolne strategije robota koje
uzimaju u obzir samo eljene profile kretanja su manje pogodne za koritenje u
nestrukturisanim okruenjima. To je zbog injenice da uspjeh ove strategije uveliko
ovisi o preciznom modeliranju manipulatora i okolia. Svaka greka u modeliranju ili
neizvjesnost e u konanici rezultirati u manje tanom planiranju pokreta i samim tim
neoekivanom kontaktnom silom ili momentom. U klasinoj kontroli pokreta,
visokopropusna kontrola servo dizajna se koristi za poveanje robusnosti protiv
greaka kod modeliranja i neizvjesnosti parametara i prisutnog uma. Meutim, kada
su i manipulator i okoli vrlo kruti, kontaktne sile/momenti mogu dosegnuti vrlo visoke
vrijednosti koje bi mogle da uzrokuju oteenje bilo jednog ili oba.
Rizici tete se mogu umanjiti ako manipulator moe biti u skladu s okolinom, tj.
ako je u stanju da mijenja svoj odgovor na osnovu kontaktne sile/momenata.
95
Zlata Jelai
Usklaeno ponaanje se moe postii bilo mehanikim dizajnom ili pomou

analogno/digitalnog upravljanja ili implementacijom obje stvari. Bruenje (vidi sl. 1. (a)),
poliranje i mehanika asemblaa (vidi sl. 1. (b)) su primjeri industrijske primjene koje
zahtijevaju da manipulator bude u kontaktu s okolinom veinu svog operativnog
vremena. Manipulatori u kunim aplikacijama (npr. kuna robotika), koji privlae sve
veu pozornost u posljednjih nekoliko godina, takoer se koriste za izvravanje
kontaktnih zadataka, kao to su brisanje povrina (vidi sl. 1. (c)) i otvaranje vrata (vidi
sl. 1. (d)).
(a) Bruenje [8] (b) Asemblaa [9]
(c) Brisanje stola [10] (d) Robot otvara vrata mikrovalne penice [11]
Slika 1. Primjeri koji se odnose na kontaktne zadatke
Kontaktne sile se mogu aktivno kontrolisati na dva razliita naina, posredno ili
neposredno. Indirektne sheme koriste kontrolu pokreta kao implicitan nain kako bi
regulisali kontaktne sile, dok direktne sheme koriste eksplicitne povratne petlje sile [5].
Indirektne tehnike su kontrola impedance ili otpora (ili pristupa) i kontrola krutosti (ili
usklaenosti) (pojednostavljen tip kontrole impedance). Direktne tehnike ukljuuju
hibridnu kontrolu pokreta/sile, internu/eksternu kontrolu pokreta/sile i paralelnu kontrolu
pokreta/sile. Detaljno modeliranje okolia moe se izbjei ako se koriste indirektne
sheme, meutim performansa praenja poloaja se moe pokvariti. Meu direktnim
metodama, hibridna kontrola pokreta/sile je vrlo esta, dok uspjeh ove kontrole ovisi o
tome da li postoji eksplicitna jednaina ogranienja koja definie geometriju okruenja.
U potpunom kontaktnom zadatku postoje tri faze, slobodno kretanje, kontaktni
96
pokret i prelazne ili tranzicijske faze. Kao to ime sugerira prva faza se odnosi na
sluaj gdje se manipulator kree u prostorima slobodnim od prepreka, dok se drugi
odnosi na kretanje du odreenih povrina, dok posljednja podrazumijeva prelaze
prema i od slobodnih i kontaktnih faza pokreta koje ukljuuju fenomen direktnog
kontakta. Vaan problem povezan s kontrolom kontaktnog zadatka je prelazno
razdoblje u kojem manipulator dolazi iz slobodnog kretanja u kontakt s okolinom.
Uspjeno savladavanje tranzicijske faze je vano kako bi se izvrio potpuni kontaktni
zadatak. Postoje mnogi faktori koji utiu na robusnost i performansu manipulatora kod
kontaktnih zadataka. Oni su po pravilu vezani za dostupnost razliitih povratnih
senzornih informacija i poznavanja modela manipulatora i okoline. Postoje mnoge
varijante indirektnih i direktnih algoritama upravljanja kontaktnom silom koji mogu da
se nau u literaturi.
U posljednjem desetljeu, dolo je do poveanog interesovanja za uvoenje
mehanike prilagodljivosti u dizajnu manipulatora za servisne aplikacije. Ovo je voeno
eljom da se povea sigurnost, da se prigui uticaj sile impakta i prui bolji prenos
sile/momenta do zglobova manipulatora umanjujui efekat zazora, suho trenje, itd.
Primjeri takvih rjeenja koji se mogu nai u literaturi su serijski elastini pogoni (SEA) i
aktuatori varijabilne krutosti/priguivanja/otpora. Ti ureaji obino imaju i dodatne
interne kontrolne petlje kako bi se regulisali momenti na zglobovima ili pak zglobna
krutost/priguenje/otpor.
2.1.2 Kooperativna manipulacija

Robotski sistemi sa vie manipulatora su popularan predmet aktivnog
istraivanja u posljednjih nekoliko godina. Ovi sistemi se nameu kao obaveza zbog
ograniene nosivosti sistema jednog manipulatora u odreenim poslovima i potrebe za
dodatnom opremom. Praktini primjeri su manipulacija tekih predmeta i kompleksniji
vidovi asemblae u industriji (vidi sl. 2. (c)) i prostoru ili savijanje odjee i pripreme jela
u domainstvu (vidi sl. 2. (a) i sl. 2. (b)). Kooperativni manipulatori mogu imati
znaajnih prednosti u odnosu na jednog robota. Ako se vie manipulatora koristi za
premjetanje tekog ili glomaznog tereta, teina se moe raspodijeliti na vie manjih i
jeftinijih robota a sa teretom se moe sigurnije i rukovati. Mehanika asemblaa, koja
je vaan proces u mnogim industrijama a posebno u automobilskom sektoru, moe se
obavljati bre i fleksibilnije. Specijalni fiksatori, ija je glavna svrha da pridravaju
odreene dijelove sklopa za vrijeme asemblae, koriste se esto u tom procesu. Uz
pomo vie manipulatora gdje jedan ili vie njih igraju ulogu fiksatora, broj skupih
specijalnih fiksatora se moe smanjiti ili u konanici njihova upotreba moe biti
eliminisana u potpunosti. U mnogim kooperativnim zadacima, manipulatori hvataju
zajedniki predmet te ga dovode u kontakt s okolinom.
Iako se kod kooperativne manipulacije obino ne pridaje puno panje
zajednikom predmetu manipulacije, mogue je napraviti razliku izmeu ne-
koordinirane (tj. svaka ruka obavlja razliit zadatak), koordinirane (tj. svaka ruka
obavlja razliit dio istog zadatka) i bimanualne (u sluaju dva manipulatora)
manipulacije. Analiza i kontrola prve skupine je ista kao u sluaju pojedinanih
manipulatora za to ve postoji znatan broj rjeenja.
Zadaci kooperativne manipulacije se mogu kategorizirati prema vrsti kontakta
sa predmetom na fiksne i ne-fiksne. U sluaju prvog, pretpostavlja se da je predmet
vrsto privren za manipulator, tako da su kontaktna ogranienja bilateralna. U
drugom sluaju, relativno kretanje izmeu objekta i manipulatora je mogue, tako da
su kontaktna ogranienja jednostrana. Iako kontakt ne moe biti naruen kada su u
pitanju bilateralna ogranienja, jo uvijek je mogue modelirati dranje objekta pomou
97
Zlata Jelai
fiksnih hvataljki ako predmet ima specifine karakteristike (npr. uho na oljici za kafu).
U tom sluaju kontakt moe biti naruen ako su hvataljke otvorene.
Razliiti kontrolni zakoni su razvijeni za kooperativne manipulatore kao
voa/sljedbenik, hibridni poloaj/sila, input-output i linearizacija stanja, impedance
(otpora) i kontrole na temelju pasivnosti. U voa/sljedbenik kontroli, glavni manipulator
(voa) kontrolie kretanje i zaduen je za nametanje eljenog kretanja objekta, dok su
ostali manipulatori (sljedbenici) pod kontrolom sile i prate kretanje nametnuto od strane
glavnog manipulatora. Hibridni kontrolni poloaj/sila je jedan od prvih algoritama
upravljanja za kooperativne manipulacije koji ne koristi princip voa/sljedbenik. Ovaj
algoritam transformie varijable pokreta i sile krajnjeg efektora manipulatora u kretanje
i unutranje/vanjske sile objekta, tako da se oni mogu zasebno kontrolisati. Nedostaci
ovog kontrolera se odnose na pogrenu upotrebu ortogonalnosti i prilagoavnja
kontakta.
(a) Robot Rose priprema obrok [11] (b) Robot PR2 prelae runike [12]
(C) Motoman SDA10 sastavlja stolicu [13]
Slika 2. Primjeri koji se odnose na kooperativne manipulacije.
Linearizacija ulazno-izlaznih stanja su metode kompenzacije koje se temelje na

modelu koji omoguava da se razloenim linearnim sistemom moe upravljati pomou
dobro poznatih linearnih tehnika. Koristei ovu tehniku kontroleri su dizajnirani u
zajednikom prostoru i u operativnom ili prostoru zadatka.
Kontrola impedance (otpora) je jo jedna vrlo iroko koritena tehnika za
kontrolu zadataka kooperativne manipulacije. Njena upotreba u kooperativnoj
98
manipulaciji se moe kategorisati u tri skupine; implementacijom odnosa impedance

izmeu objekta manipulacije i vanjske okoline ili implementacijom odnosa impedance
izmeu objekta manipulacije i manipulatora ili kombinacijom oba. Pristup u prvoj
kategoriji uzima u obzir kontrolu vanjske sile koja proizlazi iz kontakta objekta s
okolinom i obino zahtijeva znanje o kinematikim karakteristikama (bilo mjerenjem ili
procjenom) i parametrima inercije objekta manipulacije. Kod druge skupine naglasak je
na kontroli unutranjih umjesto vanjskih sila. Za rad ove vrste kontrolera potrebno je
poznavati geometrijske parametre objekta manipulacije, dok poznavanje inercijalnih
parametara obino nije potrebno. Posljednja kategorija obuhvata kontrolu unutranjih
sila objekta kao i kontaktnih sila izmeu objekta i vanjskog okruenja.
Osim prethodno spomenutih pristupa, u literaturi takoer postoje algoritmi koji
se temelje na pasivnost ili adaptaciji ili pak robusni algoritmi za kooperativne
manipulatore.
3 TRENDOVI U BUDUEM ISTRAIVANJU

Naa elja da razvijamo robote koji mogu ostvariti fiziku interakciju s ljudima
na intuitivan i bioloki inspirisan nain otkriva iroko polje ljudske fizike interakcije koje
tek poinje da se prouava. tavie, s vremenom bi moglo biti mogue dizajnirati
robota koji moe biti optimiziran na osnovu funkcionisanja ljudskog ivanog (nervnog)
sistema. Meutim, potrebno je obaviti mnogo rada na polju ovjek-ovjek
senzorimotornih interakcija prije nego se uspostave opa naela za kooperativnu
senzorimotornu kontrolu. Kao prvi korak, mi smo identificirali neka podruja
potencijalno plodnog istraivanja na otkrivaju naela senzorimotorne kooperacije kod
ovjek-ovjek interakcije koja mogu biti direkno od koristi za projektovanje fizikih
kontakata i upravljakih programa za rehabilitacione robote.
Takoer se namee potreba za razvijanje novih eksperimentalnih paradigmi
kako bi se mogla rjeavati otvorena pitanja o tome kakvu ulogu kod fizike interakcije
izmeu pojedinaca igraju motorna prezasienost, razlika u vjetinama i oslanjanje na
haptike povratne informacije. Posebno, vie panje u specifinim podrujima
senzorimotorne asistencije i edukacije moe pruiti smjernice kod projektovanja
upravljanja haptikih interfejsa i kontrolera za rehabilitacione robote. Motorni zadaci
koji bi se mogli koristiti u kooperativnoj paradigmi ukljuuju, ali nisu ogranieni na:
rukovanje, noenje predmeta, voenje slabovidnih osoba, i kao direktniji kliniki
zadatak, interakcija izmeu terapeuta i pacijenta tokom rehabilitacije.
Dok su neki od ovih zadataka vec ranije sluili kao motivacija za brojne studije
ovjek-ovjek interakcije, jo uvijek nemamo osnovno razumijevanje veliine sila koje
se koriste u tim zadacima interakcije. Osim toga ostaje nepoznato kako sila interakcije
moe uticati na performansu ili osigurati kanal za prenos informacije o motorikim
sposobnostima i vjetinama.
Identifikacija opih naela senzorimotorne interakcije izmeu ljudskih partnera
moe takoer da bude primjenjiva na alternativnu perspektivu interakcije izmeu
ovjeka i robota u rehabilitaciji. Dok je primjena ovjek-robot interakcije u rehabilitaciji
tradicionalno usmjerena na interakcije izmeu robota i pacijenta, budui rad moe
takoer razmotriti ulogu ovjek-robot odnosa u rehabilitaciji iz perspektive interakcije
robota s terapeutom. Dok su priroda i izazovi interakcije izmeu robota i terapeuta
vjerovatno razliiti od onih izmeu robota i pacijenta, principi izvedeni iz studije ovjek-
ovjek interakcije mogu posluiti kao osnov.
Sve u svemu, identifikacija vodeih naela koje pokreu ljudske
senzorimotorne interakcije imaju potencijal za dalje projektovanje, upravljanje i
99
Zlata Jelai
koritenje rehabilitacionih robota koji fiziki mogu komunicirati s ljudima na intuitivan i

bioloki inspirisan nain, ime se poveavaju rezultati rehabilitacije.
LITERATURA
[1] Jarrass N, Charalambous T, Burdet E: A framework to describe, analyze and
generate interactive motor behaviors. PLoS One 2012, 7:113.
[2] Galvez JA, Kerdanyan G, Maneekobkunwong S, Weber R, Scott M, Harkema SJ,
Reinkensmeyer DJ: Measuring Human Trainers Skill for the Design of Better
Robot Control Algorithms for Gait Training after Spinal Cord Injury. In Proceedings
of the IEEE Conference on Rehabilitation Robotics. 2005:231234.
[3] Ikeura R, Morita A, Mizutani K: Variable-Damping Characteristics in Carrying an
Object by Two Humans. In Proceedings of the IEEE International Workshop on
Robot and Human Communication. 1997:130134.B.
[4] Siciliano and L. Villani. Robot Force Control, volume 540 of The Springer
International Series in Engineering and Computer Science. Springer US, 1999.
[5] L. Villani and J. de Schutter. Force control. In B. Siciliano and O. Khatib, editors,
Springer Handbook of Robotics, pages 161187. Springer, 2008.
[6] T. Yoshikawa. Force control of robot manipulators. In Proceedings of IEEE
International Conference on Robotics and Automation (ICRA), pages 220226
vol.1, 2000.
[7] A. J. Koivo and M.A. Unseren. Reduced order model and decoupled control
architecture for two manipulators holding a rigid object. Journal of Dynamic
System, Measurement and Control, 113(4):646654, 2010
[8] Yaskawa Motoman Robotics. Motoman sda 10 assembling a chair.
http://www.motoman.com/industries/furniture-fixtures.php .
[9] Robot Rose. Robot rose media footage. http://robot-rose.com/media/ .
[10] Stanford University. The stanford assistant mobile manipulator (samm).
http://robotics.stanford.edu/~ruspini/samm.html .
[11] H. Urbanek, A. Albu-Schaffer, and P. Van Der Smagt. Learning from
demonstration: repetitive movements for autonomous service robotics. In
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS). , pages 34953500 vol.4, 2004.
[12] Technology Research News. Cooperative robots share the load, February 2002.
http://www.trnmag.com/Stories/2002/021302/Cooperative_robots_share_the_load_
021302.html .
[13] J. Maitin-Shepard, M. Cusumano-Towner, J. Lei, and P. Abbeel. Cloth grasp point
detection based on multiple-view geometric cues with application to robotic towel
folding. In IEEE International Conference on Robotics and Automation (ICRA) ,
pages 23082315, 2010.
100
________________________________________________________________________________________________
MACHINE DESIGN, SIMULATION AND

MODELING
_____________________________________________________________________________
TEACHING-LEARNING-BASED OPTIMIZATION ALGORITHM FOR

SOLVING MACHINE DESIGN CONSTRAINED OPTIMIZATION
Nenad Marjanovic1, Nenad Kostic2, Nenad Petrovic3, Mirko Blagojevic4,
Milos Matejic5
Abstract: The contemporary Teaching-learning based optimization method (TLBO), is

used for solving machine design optimization problems. The method consists of two
phases, teaching phase and learning phase. This method requires a small number of
known facts which describe the problem in order to be able to find a solution. This
research is oriented on software implementation of TLBO methods and problems in
real world application for solving optimization problems. An original software has been
developed which uses TLBO method. Testing the method is conducted on machine
design examples from literature, and the results are compared to optimal solutions
from literature. TLBO is a modern and very significant method, and this paper shows
its convergence characteristics and practical implementation for engineering problems.
Key words: Constrained optimization, Machine design optimization, Optimization

software, Teaching-learning-based optimization
1 INTRODUCTION
Machine design presents a creative process with clearly defined goals with the
simultaneous fulfilment of certain constraints and needs for adequate decision making.
In order for this process to be successful, an optimal design solution, preferable for real
application, must be made. Optimization is implemented with a clear definition of the
objective function, optimization variables, existing constraints, feasible solutions and
optimization method. Optimization is finding an adequate, possible solution from a
group of alternative possible solutions. Heuristic methods are preferred for use in
engineering problems due to their favorable characteristics, such as their ability to work
with a large number of variables, overcoming local extremes, speed and efficiency of
work, field of use, prerequisite knowledge of the problem being solved, etc.
There is a large number of heuristic methods such as Genetic Algorithm (GA),
Particle Swarm Optimization (PSO), Artificial Bee Colony (ABC), Ant Colony
1PhD Nenad Marjanovic, Faculty of Engineering, Sestre Janjic 6, Kragujevac, Serbia, nesam@kg.ac.rs
2
MSc Nenad Kostic, Faculty of Engineering, Sestre Janjic 6, Kragujevac, Serbia, nkostic@kg.ac.rs (CA)
3
MSc Nenad Petrovic, Faculty of Engineering, Sestre Janjic 6, Kragujevac, Serbia, npetrovic@kg.ac.rs
4
PhD Mirko Blagojevic, Faculty of Engineering, Sestre Janjic 6, Kragujevac, Serbia, mirkob@kg.ac.rs
5
MSc Milos Matejic, Faculty of Engineering, Sestre Janjic 6, Kragujevac, Serbia, mmatejic@kg.ac.rs
101
Nenad Marjanovic, Nenad Kostic, Nenad Petrovic, Mirko Blagojevic, Milos Matejic
Optimization (ACO), Teaching-Learning-Based Optimization (TLBO), etc. In common

for all these methods is the principle of mimicking natural occurrences and processes.
TLBO is a modern heuristic method initially developed for solving engineering
problems. The algorithm was developed in 2011 [1] and consists of two basic phases,
Teacher Phase and Learner Phase. The algorithm has been tested on numerous
problems [2,3], which are very complex for optimizing, thereby verifying this method.
Rao and Patel [4] presented the TLBO algorithm which is used on complex
optimization problems. The same authors improved the base TLBO algorithm [3], and
used it to solve unconstrained problems. Certain authors [5,6] directed their research
to determining performances of some developments of the TLBO algorithm. Huang et
al. [7] analyzed the effects of modifying TLBO in engineering practice. Regardless of
the fact that the algorithm is still young, it is a frequent theme of research and is
increasing in implementation in practice. An overview of research with details of papers
and analyses of what has been achieved, was presented by Rao [8], where he
considered over 200 distinguished research papers from this field, concluding with the
year 2015.
The motivation behind this research is in understanding, implementation, and
adaptation of an efficient heuristic algorithm for solving machine design optimization
problems. The contemporaneity, modernity and the fact that TLBO was developed by
experts in the engineering optimization field present the fundamental reason and
criteria behind the choice of this heuristic method.
2 TEACHING-LEARNING-BASED OPTIMIZATION
The Teaching-Learning-Based Optimization (TLBO) algorithm presents a new
evolutionary algorithm (heuristic optimization method) which gathered a lot of attention
in the research community. It is a modern heuristic method, and the first publications
regarding TLBO appear starting in the year 2011 [1]. The operating principle of this
method is developed on the influence of a teacher on learners. TLBO algorithm is
divided into two characteristic phases: Teacher Phase, and Learner Phase,
respectively. The average quality of the class increases depending on the teachers
quality. TLBO defines a good teacher as one who improves his students knowledge up
to his level. The TLBO algorithm structure is shown in figure 1.
The first phase is the Teacher phase. In this phase the teacher attempts to
bring his students up to the same knowledge level. The ability to reach this level
depends on the course students learning capabilities. This modification of old
individuals, creating new individuals can be expressed as follows:
X New, i X Old , i ri X Teacher TF X Mean (1)
where TF is the randomly determined learning factor, which can have a value of either
1 or 2. The best individual in the population is X Teacher , X M ean is the current mean value of
the course students, r is a uniform random number between 0 and 1.
The second phase is the Learner phase. In the learner phase, through interaction
amongst themselves, learners increase their knowledge. Learning partners are chosen
randomly ( X i learns from X ii ). In the case that X ii is better than X i , that individual is
modified through equation (2).
102
TLBO algorithm for solving machine design constrained optimization
X new X Old r ( X i X j ) (2)
If this is not the case however, the individual is modified as shown in equation (3).
X new X Old r ( X j X i ) (3)
Figure 1. Structure of Teaching-learning-based optimization (TLBO) [1]
3 IMPLEMENTATION FOR TLBO OPTIMIZATION

When it comes to the process of implementation, and thereafter application of
any optimization algorithm, the problem arises to achieve theoretical assumptions.
There are numerous problems with implementation of methods. For TLBO some of
these problems include synchronizing nomenclature, explicit definition of random
values, should the random numbers differ for the teaching and learning phase, etc.
103
This research is oriented towards the real application of TLBO method for engineering
problems, and in order to find the most influential segment the implementation of the
algorithm during optimization software development was developed. For the purposes
of this research an original software written in C++ was developed to use TLBO
optimization. According to the instructions of the authors of this algorithm, the following
steps were taken:
Defining the optimization problem and initializing optimization parameters
population size, number of iterations, number of variables and their range,
goal function, constraints, and optimization criteria.
Generating the initial population generating random values in the
acceptable domain which will be the initial population.
Teacher Phase - TF is the same for the entire iteration, while r in this phase
is different for each student individually in each iterration.
Learner Phase this phase is repeated the same number of times as there
are students.
The algorithm is stopped when the maximal number of iterations and post
processes is achieved.
4 CONSTRAINED MACHINE DESIGN PROBLEMS FROM LITERATURE
4.1 Design of gear train

The objective for gear train design problem is minimize the weight of a gear
train [1]. This problem has one discrete variable, and six continual variables, which
makes it very complex. In addition the problem is constrained with four linear and
seven nonlinear constraints. The problem can be presented by the following
mathematical model.
Minimize:
f x 0.7854 x1x22 3.3333x32 14.9334 x3 43.0934 1.508x1 x62 x72 7.4777 x63 x73 0.7854 x4x62 x5x72 (4)
Subjec to:
27 397.5 11.93x43 11.93x53

g1 x 1 0, g2 x 1 0, g3 x 1 0, g 4 x 1 0,
x1 x22 x3 x1 x22 x32 4
x2 x3 x6 x2 x3 x74
2 2
745 x4 745 x5
16.9e6 157.5e6
x2 x3 x2 x3 xx
g5 x 3
1 0, g 6 x 3
1 0, g 7 x 2 3 1 0,
110 x6 85 x7 40
5 x2 x1 1.5 x2 1.9 1.1x7 1.9
g8 x 1 0, g 9 x 1 0, g10 x 1 0, g11 x 1 0,
x1 12 x2 x4 x5
2.6 x1 3.6, 0.7 x2 0.8, 17 x3 28, 7.3 x4 8.3, 7.8 x5 8.3,

2.9 x6 3.9, 5 x7 5.5.
104
4.2 Design of welded beam

Problem of design of welded beam is frequently analyzed in reference [9]. Welded
beam is designed for minimum cost subject to constraints on shear stress , bending
stress in the beam , buckling load on the bar Pc , and deflection of the beam , and
side constraint. The problem is shown in figure 2, with the variables which are used in
optimization.
Figure 2. Welded beam design problem

The problem consists of four variables and seven complex constraints, which
are presented in the following mathematical model:
Minimize:
f x 1.10471x12 x2 0.04811x3 x4 14 x2 (5)
Subject to:
g1 x x 13000 0, g 2 x x 30000 0, g3 x x1 x4 0,
g 4 x 0.10471x12 0.04811x3 x4 14 x2 5 0, g5 x 0.125 x1 0,
g 6 x x 0.25 0, g 7 x 6000 Pc x 0,
Where:
x2 6000 MR
x 2 , ,
2 2
2R 2 x1 x2 J
x x22 x1 x3
2
x 2 x x 2
M 6000 16 2 , R , J 2 2 x1x2 2 1 3 ,
2 4 2 12 2
504000 2.1952
x , x , Pc x 64746.022 1 0.0282346 x3 x3 x43 ,
x4 x32 x33 x4
0.1 x1 2, 0.1 x2 10, 0.1 x3 10, 0.1 x4 2.
105
4.3 Design of tension/compression spring

One of the older engineering optimization problems [9], is the weight
minimization of a tension/compression spring (Figure 3), subject to constraints on
minimum deflection, shear stress, surge frequency, limits on outside diameter and on
design variables. The design variables are the mean coil diameter D x2 , the wire
diameter d x1 and the number of active coils P x3 .
Figure 3. Tension/compression spring
The problem consists of three variables and four complex constraints, which
are shown in the following mathematical model:
Minimize:
f x x3 2 x2 x12 (6)
Subject to:
x23 x3 4 x22 x1 x2 1
g1 x 1 0, g2 x 1 0,
71785 x14 12566 x2 x1 x1 5108 x1
3 4 2
140.45 x1 x1 x2
g3 x 1 0, g4 x 0, x1 d , x2 D , x3 P,
x22 x3 1.5
0.05 x1 2, 0.25 x2 1.3, 2 x3 15.
4.4 Results and discussion

Table 1 shows achieved results from literature [1, 9] and experimental results
of this research for implementing TLBO optimization method. Examples were solved
with 30 repetitions in order to have the results validated, the evolutionary size was
taken as 10 000 for the first case (TLBO 10) and for the second case 30 000 (TLBO
30), which is the most frequent case in most literature. It is noticeable that is a modern
evolutionary method, as its use achieves extraordinary results in comparison to
previous methods.
Results achieved by Rao [1], completely match the here achieved results, and
they are off by very little. This can be the result of decimal tolerances, as well as the
implementation not being identical, regardless of the strict following of the authors
instructions.
106
Table 1. Result comparison
Problem CPSO [9] TLBO [1] TLBO 10 TLBO 30
Best NA 2996.348 2996.363 2996.348

Gear Train Mean NA 2996.348 2996.414 2996.348
Evaluations NA 10 000 10 000 30 000
Best 1.728 1.72485 1.72498 1.72485

Welded
Mean 1.749 1.72845 1.72525 1.72485
Beam
Evaluations 200 000 10 000 10 000 30 000
Best 0.01267 0.01266 0.01267 0.01266

Tension /
Compression Mean 0.0127 0.01267 0.01269 0.01267
Spring
Evaluations 200 000 10 000 10 000 30 000
5 CONCLUSION
TLBO is a new approach in solving engineering optimization problems. The
greatest advantage of this method is that it is a parameterless method. Implementation
and practical use of almost all methods represents a serious and demanding problem.
Theoretical assumptions do not always match real world application. Implemented
TLBO was used on very demanding engineering optimization problems, in order to
verify its quality in implementation. Due to numerous dilemmas and small
discrepancies in presenting results, there are certain differences, however they are
very small. It is necessary to state that the development of these optimization methods
represents a perspective of solving complex optimization methods and their ever
growing use in practical application, which can finally lead to large savings and
improvement of these characteristics and improvement of existing ones.
REFERENCES
[1] Rao, R. V., Savsani, V., J., Vakharia, D., P.(2011). Teachinglearning-based
optimization: A novel method for constrained mechanical design optimization
problems, Computer-Aided Design, 43,p.p. 303-315.
[2] Rao, R. V., Savsani, V. J., Vakharia, D.P. (2012). TeachingLearning-Based
Optimization: An optimization method for continuous non-linear large scale
problems, Information Sciences, p.p. 183, 1-15.
[3] Rao R. V., Patel V, (2012). An improved teaching-learning-based optimization
algorithm for solving unconstrained optimization problems, Scientia Iranica,20/3,
p.p. 710-720.
[4] RaoR.V., Patel, V.(2012). An elitist teaching-learning-based optimization algorithm
for solving complex constrained optimization problems, International journal of
industrial engineering computations, 3, p.p. 535-560.
[5] Satapathy, S.C., Naik, A.(2014). Modified TeachingLearning-Based Optimization
algorithm for global numerical optimizationA comparative study, Swarm and
Evolutionary Computation, 16,p.p. 28-37.
107
[6] Baykasolu, A., Hamzadayi, A., Kse, S. Y.(2014). Testing the performance of
teachinglearning based optimization (TLBO) algorithm on combinatorial
problems: Flow shop and job shop scheduling cases, Information Sciences, 276,
p.p. 204-218.
[7] Huang, J., Gao, L., Li, X.(2015), An effective teaching-learning-based cuckoo
search algorithm for parameter optimization problems in structure designing and
machining processes, Applied Soft Computing, 36,p.p. 349-356.
[8] Rao, R. V.(2016). Review of applications of TLBO algorithm and a tutorial for
beginners to solve the unconstrained and constrained optimization problems,
Decision Science Letters, 5,p.p. 1-30.
[9] He, Q., Wang, L.(2007). An effective co-evolutionary particle swarm optimization
for constrained engineering design problems, Engineering Applications of Artificial
Intelligence, 20,p.p. 89-99.
108
_____________________________________________________________________________
ANALYSIS OF WIND TURBINE LATTICE TOWER TYPE CONCEPTS

Marko Denic1, Nenad Petrovic2, Vesna Marjanovic3
Abstract: Exploitation of renewable energy sources is expanding faster than ever. One
such source is wind energy. An important improvement for wind turbines is the choice
of type and design of the support structure. This paper considers various construction
concepts of lattice tower structures using pipe sections. The goal is to show the
preferable type of tower frame structure design in terms of concept with respect to
structural characteristics under static and dynamic loading. The models are designed,
and analyzed under conditions, for small wind towers, 20m in height.
Key words: lattice tower, pipe section, structural analysis, wind turbines
1 INTRODUCTION
Energy production in the past years has been gravitating towards switching
more and more to the exploitation of renewable energy sources. In this regard, wind
energy has proven to have a high potential as a fast growing industry is producing
various types of wind turbines. The extraction of power from wind is usually
categorized into small wind systems and large wind systems. As wind towers, in order
to operate, need to be placed on optimal heights in regard to their geographical
position, wind turbine towers have become subject of a lot of research in recent years.
Most frequently used tower types include lattice, guyed pole, tubular, hybrid, etc.
Zwick et al. [1] optimized a full-height lattice tower finding that constant
member dimensions over the tower height gives an indication about the required
dimensions for an optimized design.Michael Muskulus [2] presented an alternative
support structure for full-height lattice tower with significant savings in steel weight for
offshore wind turbines. Gencturk et al. [3] optimized a 24m, 30.5m, 36.6m and 42.6m
wind turbine lattice towers considering earthquake forces. Nezamolmolki and
Shooshtari [4] investigated nonlinear dynamic behavior of lattice structure wind
turbines examining nonlinearities such as geometric, material and joint slip effect, and
natural frequencies. They found that the joint slip effect can substantially reduce the
natural frequencies of the lattice tower, which are significant in the design of these
1Res. Trainee, Marko Deni, Faculty of Engineering, Sestre Janji 6, Kragujevac, Serbia, mdenic@kg.ac.rs
(CA)
2Assistant, Nenad Petrovi, Faculty of Engineering, Sestre Janji 6, Kragujevac, Serbia, npetrovic@kg.ac.rs
3Assoc. prof., Vesna Marjanovi, Faculty of Engineering, Sestre Janji 6, Kragujevac, Serbia,
vmarjanovic@kg.ac.rs
109
Marko Denic, Nenad Petrovic, Vesna Marjanovic
structures. Adhikari et al. [5] investigated the feasibility of using bamboo in triangular
lattice towers for small wind turbines. The study resulted in promising results showing a
decreased cost of construction in developing countries.Li and Lu [6] reported a new
design scheme of light weight structures for wind turbines based on integration of
nanostructured materials in order to decrease weight on tapered tubular structures. A
virtual tool for minimum cost design of wind turbines with ring stiffeners [7] has been
developed by Fatih Karpat considering tapered tubular towers.
P. A. A. Magalhes Jr.et al. [8] conducted structural optimization using genetic
algorithm comparing optimized truss models to tubular counterparts. Gencturk et al. [9]
outlined a procedure to turbine manufacturers in their selection process for wind
energy field implementations giving an optimal design for a wind turbine lattice tower.
Das and Kumar [10] analyzed triangle based, square based, and tapered tower
designs and compared pipe and angle cross-section uses.
The motivation for this research comes from a desire to improve renewable
energy integration in the region. Wind energy has a large potential in the Balkans both
in terms of terrain, and in terms of wind conditions. As the region of Serbia has
relatively low wind, without drastic variations, this paper considers small lattice towers
with a tower height of 20m. The chosen tower type is lattice tower, for its favorable
characteristics in terms of cost, ease of fabrication, transport, building, and ecological
impact. In order to determine the best choice of lattice tower construction, the research
is focused on analyzing three types of towers usually constructed: triangle based,
square based, and tapered. The models are subjected to predominant cases of static
and dynamic loading for this type of structure.
2 TOWER DESIGN
The three tower frame shape types analyzed in this paper are triangle based,
square based, and tapered. All towers are self-supporting, modeled with pipe section
elements, as well as with the same tower base area of 4m2, and a uniform height of
20m. Figure 1 shows the tower model layouts. These tower designs do not require
guyed wires due to their dimension proportions, as stated in IEC 61400-2 [11]. The
reference for these tower designs is an upgrade and adaptation of towers from [10]. All
models are created and analyzed in Autodesk Robot Structural Analysis Professional
2015.
a) b) c)
Figure 1. Tower model layout a) triangle base, b) square based, and c) tapered
All towers have cross members along all vertical sides. The top views of all
three towers are shown in figure 2.Horizontally placed cross-members are only on the
topmost level of all three tower layouts.
110
Analysis of wind turbine lattice tower type concepts
a) b) c)
Figure 2. Top view of layout a) triangle base, b) square based, and c) tapered
2.1 Model characteristics

The tower frames are all designed with S235 steel pipe cross-section
members. Pipe cross-sections are adopted from the Utva Silosi a.d. Kovin catalogue
[12], as profiles that can be found locally, which are by EN 10219-2 standards [13]. The
pipes are divided into two categories which are then divided by height. Namely
horizontal and vertical cross members, and cross bracings are subdivided by height at
which they are placed. As the construction reaches higher elevations the profiles have
a smaller cross-section. Cross-section dimensions and their placement are
modifications on optimal models from literature in order to adapt the towers for
domestically available materials and improve the construction [10]. This division, and
the dimensions of the adopted pipe cross-sectionsare given in table1.
Table 1.Cross-section dimensions according to tower, segment and height placement

Outside Diameter Wall Thickness Height
Tower - Segment
D (mm) t (mm) H (m)
Triangular tower - 76.1 2 0-6
Horizontal and 54 2.5 6-12
Vertical Members 40 2.5 12-20
Triangular tower - 30 1.5 0-6
Cross Bracings 26.9 1.5 6-20
Rectangular tower - 76.1 2 0-6
Rectangular tower - 50 2.5 0-6
Cross Bracings 45 2.5 6-20
Tapered tower - 60 2.5 0-6
Tapered tower - 50 2.5 0-6
Cross Bracings 45 2.5 6-12
All tower models have a progressively decreasing cross section dimensions in

segments, the higher up they are installed, where the tapered tower also decreases in
horizontal length and width.
111
2.2 Loads
Wind turbines are subject to many different loads throughout their projected
lifecycles. Predominant forces acting on towers such as the ones analyzed in this
paper are shown in figure 4.
Figure 4. Forces which small wind turbine towersare subjected to
The loads for all towers are the same. The towers are subjected to self-weight,
weight of turbine (300kg), thrust force, F=2.12kN, and moment force of M=0.524Nm.
Additionally all models are subjected to wind loads. Wind velocity factor is 0.6, and
maximum wind speed is set as V z=40 m/s, giving a design wind pressure of Pz=960
N/m2.
3 RESULTS
The analysis of the tower models first shows a significant difference in the
weight of the three concepts given in table 2.
Table 2.Comparison of tower weights

Tower type Weight (kg)
Triangular base 701.085
Square base 1133.832
Tapered tower 896.001
The triangular based tower is the lightest, which is to be expected is it has 123
bars totaling 374.8 m. The other two concepts have the same number of bars, however
as the tapered tower is narrower at the top it has a smaller overall length of bars by
approximately 68 m and a smaller weight than the rectangular base. The displacement
of towers are given in table 3.
112
Analysis of wind turbine lattice tower type concepts
Table 3.Comparison of tower displacement

Maximum Resultant
Tower type Wind Displacement
Displacement (mm)
Triangular base 23.260 4.582
Square base 24.315 3.665
Tapered tower 20.484 5.112
Maximum stress in all three towers is obtained using finite element analysis in
Autodesk Robot, and for the triangular base tower it is 197.9 MPa, for the rectangular
base tower 178.73 MPa, and the tapered tower 50.06 MPa.
The design of truss node connectionswas also tested for axial forces of 10kN
in compliance with EN 1993-1-8:2005/AC:2009 [14] in Autodesk Robot. All welded
connections passed this test with a ratio well under 1. One of the connections
examined is shown in figure 5, for node 30 in the X-Y plane.
Figure 5. Design of truss node connection for node 30 in X-Y plane
Natural vibration frequencies are not emphasized by this paper, however

suitable results have been obtained.
4 CONCLUSION
The demand for converting to exploitation of renewable energy increasing in
the Balkan region. Wind energy, as a renewable energy source, has a growing
potential in this field. In wind turbine construction, the tower is the costliest component,
closely followed by the rotor blades and gearbox system. The use of lattice towers
decreases the costs substantially, as this type of construction is cheaper to produce
and assemble. This paper presents a comparison of three typical types of lattice tower
constructions for small wind turbines, triangular based, square based, and tapered
towers. The tower designs are taken from optimal solutions from literature, while the
pipe profile selection was conducted according to a survey of available vendors
catalogues.
The analyses conducted show that the triangular tower is lightest, at
701.085kg, which is around 195kg lighter than the tapered, and around 432kg lighter
than the rectangular based tower. The maximum deflection under combined static and
dynamic loads is the lowest for the tapered tower, while once again the square tower
113
showed the poorest performances. In terms of maximum stress the tapered tower
shows over three times less stress than the other two tower designs.
After the aforementioned analyses and tests of design node connections it can
be concluded that the tapered tower is the best solution, with a possibility to further
optimize the tower construction in terms of cross sections. Thedirection of further
research on this topic would include the optimization of cross sections while keeping in
mind typification, as well as an in-depth modal analysis of the newly developed
concept.
REFERENCES
[1] Zwick, D., M. Muskulus, and G. Moe(2012). Iterative Optimization Approach for the
Design of Full-Height Lattice Towers for Offshore Wind Turbines. Energy Procedia,
24: pp. 297-304.
[2] Muskulus, M., (2012). The Full-height Lattice Tower Concept. Energy Procedia, 24:
pp. 371-377.
[3] Gencturk, B., A. Attar, and C. Tort (2014). Design Optimization of Lattice Wind
Turbine Towers Subjected to Earthquake Forces. pp. 1694-1703.
[4] Nezamolmolki, D. and A. Shooshtari, (2016). Investigation of nonlinear dynamic
behavior of lattice structure wind turbines. Renewable Energy, 97: pp. 33-46.
[5] Adhikari, R.C., D.H. Wood, and L. Sudak (2015). Low-cost bamboo lattice towers
for small wind turbines. Energy for Sustainable Development, 28: pp. 21-28.
[6] Li, Y. and J. Lu, (2014). Lightweight structure design for wind energy by integrating
nanostructured materials. Materials & Design, 57: p.p. 689-696.
[7] Karpat, F. (2013). A Virtual Tool for Minimum Cost Design of a Wind Turbine
Tower with Ring Stiffeners. Energies, 6(8): pp. 3822-3840.
[8] P. A. A. Magalhes Jr., I. G. Rios, T. S. Ferreira, A. C. De Andrade Jr., O. A. D.
Soares (2014). Design of Lattice Wind Turbine Towers With Structural
Optimization, Int. Journal of Engineering Research and Applications, 4, 8: pp.38-51
[9] Gencturk B., Attar A.,Tort C. (2011) Optimal Design of Lattice Wind Turbine
Towers, 15th World Conference on Earthquake Engineering proceedings,
1,5:pp.3273
[10] Das A., Kumar S. (2015). Modelling and Analysis of Lattice Towers for Wind
Turbines, International Journal of Science and Research, 4, 4: pp. 999-1003
[11] IEC 61400-2:2013 Wind turbines - Part 2: Small wind turbines, International
standard, Revised 2006.
[12] WELDED TUBES WITH SEAM, CIRCULAR, SQUARE, RECTANGULAR
HOLLOW SECTIONS ACCORDING TO EN 10219-2 Utva Silosi a.d. Kovin
catalogue, http://www.utva.rs/pdf/cevi-dodatak.pdf, accessed September 2016.
[13] SRPS EN 102192:2011 Cold formed welded structural hollow sections of
nonalloy and fine grain steels Part 2: Tolerances, dimensions and sectional
properties, Institute for Standardization of Serbia, 2011.
[14] EN 1993-1-8:2005/AC:2009 Design of steel structures - Part 1-8: Design of joints
European Committee for Standardization, 2009.
114
_____________________________________________________________________________
GENERISANJE VARIJANTNIH REENJA POGONSKIH

MEHANIZAMA MANIPULATORA UTOVARIVAA
Jovan Pavlovi1, Dragoslav Janoevi2, Vesna Jovanovi3
Rezime: U radu su date osnove razvijenog softvera za generisanje varijantnih reenja

pogonskih mehanizama manipulatora utovarivaa Z kinematike. Pri generisanju
reenja zadaju se parametri lanova kinematikog lanca, datoteke standardnih
hidrocilindara dvosmernog dejstva, deklarisane sile kopanja i granini dohvati radnog
prostora manipulatora. Svaka varijanta pogonskih mehanizama u skupu generalisanih
reenja je odreena: veliinom hidrocilindra i duinom prenosnih poluga mehanizama i
koordinatama zglobova u kojima se hidrocilindri i prenosne poluge vezuju za lanove
kinematikog lanca utovarivaa. Iz skupa generalisanih moguih varijantnih reenja na
osnovu definisanih kriterijuma vri se izbor optimalnih reenja pogonskih mehanizama
manipulatora utovarivaa.
Kljune rei: optimizacija, pogonski mehanizmi, utovarivai
GENERATING VARIANT SOLUTIONS OF DRIVE

MECHANISMS OF A LOADER MANIPULATOR
Abstract: The paper defines the basis of developed software for generating variant
solutions of drive mechanisms of a loader manipulator with Z-kinematics. When variant
solutions are generating, there are given: parameters of the kinematic chain members,
a data file of standard hydrocylinders of double acting, declared digging forces and the
boundaries of the working area. Every solution of drive mechanisms in a set of
generated solutions is determined by: size of hydrocylinder and length of the
mechanism transmission lever and coordinates of joint in which the hydraulic cylinder
and transmission levers are linked to members of the loader kinematic chain. From the
set of generated possible variant solutions on the basis of defined criterias, selection of
optimal solution of the drive mechanism of loader manipulator is done.
Key words: drive mechanism, loaders, optimization
1 M.Sc., Jovan Pavlovi, University of Ni, Faculty of Mechanical Engineering, Ni, Serbia,
pavlovic.j@masfak.ni.ac.rs (CA)
2
Ph.D., Dragoslav Janoevi, University of Ni, Faculty of Mechanical Engineering, Ni, Serbia,
janos@masfak.ni.ac.rs
3
M.Sc., Vesna Jovanovi, University of Ni, Faculty of Mechanical Engineering, Ni, Serbia,
vesna.nikolic@masfak.ni.ac.rs
115
Jovan Pavlovi, Dragoslav Janoevi, Vesna Jovanovi
1 UVOD
Razvoj savremenih utovarivaa, i ostalih mobilnih maina, koristi postupak
modularnog projektovanja zasnovan na metodama nauke o konstruisanju. Za utovari-
vae, svih veliina, kao gotovi moduli, koje proizvode specijalizovani proizvodjai, na
tritu se nudi bogat tipa komponenta: kinematikog lanca, pogonskog sistema i
sistema upravljanja. Pri projektovanju se javlja problem odredjivanja parametara za
izbor pojedinih modula s obzirom da utovarivai obavljaju razliite funkcije koje se
uopteno sastoje od sledeih parcijalnih funkcija - operacija: kopanja (zahvatanja),
prenos, istovar materijala i ponovo vraanje na novo mesto zahvatanja. Operacija
kopanja (zahvatanja) moe se ostvariti na razliite naine prilagoene vrsti i
konfiguraciji odloenog materijala pri emu kaika, kao osnovi alat manipulatora, treba
da savlada otpore kopanja odgovarajuom silom kopanja.
Za podrku postupka modularnog projektovanja utovarivaa, primenom
raunara, razvijen je softverski paket koji ine:
softver za generisanje varijantnih reenja kinematikog lanca utovarivaa,
softver za optimalnu sintezu pogonskih mehanizama utovarivaa,
softver za kinematiku i dinamiku simulaciju utovarivaa.
U ovom radu date su osnove matematikog modela razvijenog softvera za
generisanje varijantnih reenja pogonskih mehanizama manipulatora utovarivaa [1][2].
2 SINTEZA KINEMATIKOG LANACA

Matematiki model utovarivaa, na osnovu kojeg je razvijen softverski paket, je
definisan za optu konfiguraciju kinematikog lanca utovarivaa tokaa ili guseniara
sa manipulatorom Z kinematike koji se sastoji od: zadnjeg L1 (sl.1) i prednjeg lana L2
oslono-kretnog mehanizma i manipulatora sa strelom L3 i kaikom L4. Pogonske
mehanizme manipulatora Z kinematike ine: a) pogonski mehanizam strele sa parom
hidrocilindara c3 koji su neposredno vezani za strelu i prednji lan oslono-kretnog
mehanizma i b) pogonski mehanizam kaike sa hidrocilindarom c4 koji posredno
pogoni kaiku, preko dvokrake poluge L6 i spone c5, povezanih u obliku slova Z.
Matematiki model utovarivaa definisan u apsolutnom koordinatnom sistemu
OXYZ, a svaki lan kinematikog lanca u lokalnom koordinatnom sostemu Oixiyizi.
Pri generisanju varijantnih reenja kinematikog lanca utovarivaa, korienjem
razvijenog softvera, zadaje se sledei skup parametara (sl.1) :

Puk Vk , Yk ,Yu , p , X i ,Yi , i , Doi (1)
gde je: Vk - zapremina kaike, Yk - dubina kopanja, Yu - visina utovara, p - ugao kaike
pri prenosu materijala, Xi - horizontalni dohvat kaike pri istovaru, Yi - vertikalni dohvat
kaike pri istovaru, i - ugao istresanja kaike, Doi - datoteka oblasti optimizacije.
Datoteka oblasti optimizacije sadri opte geometrijske i dinamike parametre i
odnose nezavisne od veliine utovarivaa dobijene analizom izvedenih reenja
utovarivaa korienjem teorije slinosti.
Promenom veliina u oblasti optimizacije generie se skup moguih varijantnih
reenja kinematikog lanca i pogonskih mehanizama manipulatora utovarivaa koja
zadovoljavaju zadata ogranienja. Pri generisanju reenja najpre se odredjuju
kinematike duine lanova kinematikog lanca a zatim koordinate zglobova u kojima
se hidrocilindri i prenosne poluge pogonskih mehanizama vezuju za lanove
kinematikog lanca. Na kraju se iz postavljenih uslova stabilnosti odredjuje ukupna
masa utovarivaa i vri njena raspodela na pojedine lanove kinematikog lanca.
116
Generisanje varijantnih reenja pogonskih mehanizama manipulatora utovarivaa
Pri generisanju zadata ogranienja su definisana u poloaju: a) najvee zadate

horizontalne dubine Yd zahvatanja, b): odreivanja deklarisanih sila kopanja kada se
kaika lenom povrinom oslanja na podlogu [3], v) zadatog ugla kaike p kada je
zavren proces punjenja (zahvatanja) i poinje prenos materijala, g) najveeg
horizontalnog dohvata Xi, d) najvee visine podizanja i visine Yi i ugla i istovara.
Navedena ograninja obezbeuju da se mehanizam kaike ne nae u takozvanom
mrtvom (blokirajuem) poloaju.
Na kraju se izdvajaju mogua varijantna reenja kinematikog lanca odreena:
a) skupom kinematikih i dinamikih veliina svakog lana kinematikog lanca
utovarivaa definisanih u svom lokalnom koordinatom sistemu Oixiyi:
Li si ,ti ,mi (2)
b) skupom parametara koji se odnosi na pogonske mehanizme strele i kaike

manipulatora utovarivaa:

Ci ai ,bi ,cip ,cik ,c5 (3)
gde je: si - intenzitet vektora koji predstavlja kinematiku duinu lana, ti - vektor poloaja
sredita mase mi lana lanca Li, ai, bi - vektori poloaja zglobova kojima se hidrocilindri i
prenosne poluge vezuju za lanove kinematikog lanca, cip - poetna duina hidrocilindra,
cik - krajnja duina hidrocilindra, c5 - duina poluge.
x4 x3 O1O2 s1 O3O23 a 3 O36O46 a5

)
Y O2O3 s 2 O3O33 b 3 O36O65 b5
L6 O3O24 a 4 O65O45 c5
y3 c4 O3O4 s3
L4 y4
c5 O4O5 s 4 O3O46 b 4
L1 L3
c3
L2
i
O x4
Z x4
X Xi
Y
O w 4
O46 L6
O36 y4 x3
c4 t4 L4
y3 m3 c5O45
O24 t3
y2 O4 3
L1 O3 O65
O3 L3 Yi
m1 y1 s2 O23 c 3
rt3 3
m2
O2 x2 c3 p
s1 r3
D
x1 L2 O4 Yu Yk
O1 O01 O X
b)
Slika 1. Utovariva toka: a) fiziki model, b) matematiki model
117
3 SINTEZA POGONSKIH MEHANIZAMA MANIPULATORA

Postupkom sinteze se odredjuje prenik klipa i prenik klipnjae hidrocilindara
pogonskih mehanizama manipulatora za svaku moguu varijantu kinematikog lanca
utovarivaa. Veliine hidrocilindara se odreuju prema maksimalnim silama hidroci-
lindara potrebnim da se savladaju maksimalna optereenja manipulatora u celom
opsegu rada utovarivaa.
Pri sintezi varijantnih reenja pogonskih mehanizama manipulatora kinematike
utovarivaa zadaje se sledei skup parametara:
Pus Li ,Ci , p , Dci , Fds , Fdk , Dt , Dko (4)
gde je: Li - skup kinematikih i dinamikih veliina svakog lana kinematikog lanca
utovarivaa, Ci - skup parametara koji se odnosi na pogonske mehanizme strele i
kaike manipulatora, p pritisak hidrostatikog sistema za pogon hidrocilindra
manipulatora, Dci datoteka parametara standardnih dvosmernih hidrocilindara, Fds,
Fdk deklarisane sile kopanja pogonskim mehanizmom strele i pogonskim
mehanizmom kaike definisane odgovarajuim standardima [3], Dt datoteka
vremena trajanja operacija manipulacionog zadatka (ciklusa rada) utovarivaca, Dko
datoteka kriterijuma optimizacije pogonskih mehanizama.
Oblast optimizacije pri sintezi pogonskih mehanizama predstavla datoteka
hidrocilindara definisana skupom veliina:
Dci d i1 , d i 2 ,cci , k mci (5)
gde je: di1, di2 - prenici klipa i klipnjae, cci - konstrukciona konstanta hidrocilindra, kmci
- koeficijent mase hidrocilindra.
Veliine, odnosno prenik klipa i prenik klipnjae, hidrocilindara pogonskih
mehanizama odreuju se prema maksimalnim silama hidrocilindara potrebnim da se
savladaju maksimalna optereenja pogonskih mehanizama manipulatora u celom
opsegu rada. Pri emu se uzima da manipulator optereuju: deklarisane sile kopanja,
gravitacione sile lanova kinematikog lanca i lanova pogonskih mehanizama
manipulatora i tehnoloki otpori koji se javlaju pri zahvatanju materijala kaikom
utovarivaa.
Optereenje mehanizama pri delovanju tehnolokih otpora. - Za alat

manipulatora u obliku kaike pri sintezi mehanizama uzimaju se, kao tehnoloki otpori
alata, granini otpori kopanja ogranieni stabilnim radom maine. Pri emu se
odreuju: a) granini otpori kopanja Woi iz uslova statike stabilnosti maine i b)
granini otpori kopanja Woxi iz uslova neproklizavanja maine pri prodiranju kaike u
masiv materijala.
Granini otpori se odreuju kada je manipulator sputen na najveu dubinu
yw1=Yd (sl.2a) zahvatanja materijala. Uzima se da vektor otpora deluje na vrhu Ow
sredita rezne ivice kaike sa pravcem i smerom odreenim uglom wi otpora kopanja.
Za izabrani ugao wi otpora kopanja odreuje se veliina graninog otpora
kopanja iz uslova statike stabilnosti maine za potencijalnu liniju prevrtanja preko
prednjih ili zadnjih pneumatika pomou jednaine (sl.2a) [4] [5]:
m4 g xt41 0,5L m3 g xt31 0,5L m2 g 0,5L xt21 m1 g 0,5L xt11

Woi (6)
sin wi xw1 0,5L y w1 cos wi
118
) Y
xt41
xt1 y2
xt31
1 x3
y1 y3
L1
O3
m1
y3 m2
O1 O2 m3 L3
D D L4 Woi
mz m4
O rd L2 O4 Ow wi yw1
L/2 xt21 x4 X
Oo1 Oo2 5
Y L x3
xw1
gmz gm4
x45= xt45 x3
xt35 O45
65 O4
O6 45
Fc4
5 O5
gm3
xt34
b) 55 4
Fc35 Fc44 x44= xt44
35 54 gmz gm4
x3 3k
21 gm3 64
3 x3
a3 44
b4 34
c4
42 Fc34
O46
3p
51 Fc41
31 a3 a5 xt41
32
y3 gm3 3
c3p O6
Fc31
O33 a6 F451
61 O45 xk=100 mm
xt31
O5 a4 Wk3
L/2 rd F541 gmz gm4
41 Wk4 Wmi
x41 O4 yw1 Wk
y41 2 wi X
xw1 x3 1 w
Slika 2. Sinteza pogonskih mehanizama manipulatora Z kinematike:

a) odreivanje graninih otpora kopanja iz uslova stabilnog rada maine, b)
karakteristini poloaji manipulatora pri analizi optereenja pogonskih mehanizama
119
gde je: mi,xti1 (i=1,2,3,4) - mase i koordinate poloaja sredita masa lanova
kinematikog lanca maine u poloaju 1 manipulatora, L - osovinsko rastojanje kretnog
mehanizma maine, xw1, yw1 - koordinate sredita vrha Ow rezne kaike za poloaj 1
(sl.2b).
Za isti izabrani ugao wi pravca delovanja otpora kopanja, iz uslova stabilnog
rada maine bez proklizavanja, odreuje se granini otpor Woxi:
p mg
Woxi (7)
cos wi
gde je : p - koficijent prijanjanja pneumatika na podlogu, m - ukupna masa maine.

Mogui otpor kopanja Wmi koji dozvolava stabilan rad maine za izabrani ugao
wi pravca delovanja u poloaju najvee dubine kopanja je jednak:
Wmi min Woi ,Woxi (8)
Granini otpori kopanja Woi koje dozvolava statika stabilnost utovarivaa i

granini otpori kopanja Woxi uslovleni neproklizavanjem utovarivaa odreuju se za
najmanje etiri (i=1,2,3,4) mogua pravca delovanja otpora kopanja: wi={-90o, 0o,
45o,90o}.
Na primer, kada je manipulator u poloaju 1 (sl.2b), najvee dubine zahvatanja,
optereen moguim otporom kopanja Wmi, pri odreivanju sile Fc41 hidrocilindra c4
mehanizma kaike najpre se iz uslova ravnotee Mo4=0 kaike za osu zgloba O4
odreuje sila F451 poluge (spone) L5 mehanizma koja deluje na kaiku:
Wmi sin wi x w1 x 41 y w1 Wmi cos wi m4 g xt 41 x 41

F451 (9)
a 4 sin 41
a zatim se iz uslova ravnotee Mo6=0 dvokrake poluge L6 za osu zgloba O6 odreuje

sila Fc41 hidrocilindra c4 kaike:
F a6 sin 61
Fc41 541 (10)
a 5 sin 51
gde je:41,5161 - uglovi relativnog poloaja poluga pogonskog mehanizama kaike.

Iz uslova ravnotee Mo3=0 manipulatora u poloaju 1(sl.2b) za osu zgloba O3
odreuje se sila Fc31 hidrocilindara c3 strele :
Wmi sin wi xw1 x3 Wmi cos wi (y3 y w1 ) m3 g xt31 x3 m4 g xt41 x3 - Fc41 b4 sin 21
Fc31
a3 sin 31
(11)
Optereenje mehanizama pri delovanju deklarisanih sila.- Deklarisane sile
(otpori) kidanja su definisane standardima i odnose se na: silu (otpor) Fk3 (Wk3) kidanja
pokretanjem strele pri delovanju maksimalne sile hidrocilindara strele, i silu (otpor) Fk4
(Wk4) kidanja kaikom pri delovanju maksimalne sile hidrocilindra kaike. Pri emu se
postavlaju sledei uslovi: a) kaika se oslanja na podlogu, b) otpori (Wk3,Wk4) ekvivalntni
silama (Fk3,Fk4) kidanja, deluju na rastojanju xk=100 mm od vrha kaike Ow normalno na
podlogu [6], [7].
Prema datim pretpostavkama, otpor W4k (sila F4k) kidanja pri delovanju
maksimalne sile Fc42 hidrocilindra kaike se odreuje iz uslova ravnotee Mo4=0
120
kaike za osu zgloba O4 iz koje se najpre nalazi sila F452 poluge (spone) L5 mehanizma
koja deluje na kaiku:
W4 k xw2 x4 xk m4 g xt 42 x42
F452 (12)
a4 sin 42
a zatim, se iz uslova ravnotee Mo6=0 dvokrake poluge L6 za osu zgloba O6

odreuje potrebna sila Fc42 hidrocilindra c4 kaike:
F a sin 62
Fc42 542 6 (13)
a5 sin 52
Smenom jednaine 12 u jednainu 13 dobija se konaan izraz za potrebnu silu
hidrocilindra kaike da bi se savladao (ostvarila) deklarisani otpor (sila) kidanja
Wk3(Fk3) .
a6 sin 62 W4 k xw2 x4 xk m4 g xt 42 x42

Fc42 (14)
a5 sin 52 a4 sin 42
Prema datim pretpostavkama, otpor W3k (sila F3k) kidanja pri delovanju
maksimalne sile Fc32 hidrocilindra strele se odreuje iz uslova ravnotee Mo3=0
manipulatora za osu zgloba O3 iz koje se nalazi potrebna sila Fc32 hidrocilindra c3
strele:
Wk3 x w2 x 3 x k m3 g xt32 x 3 m4 g xt42 x 3 - Fc4k b4 sin 22

Fc32 (15)
a 3 sin 32
gde je: Fc4k - sila hidrocilindra c4 kaike kada deluje otpor W3k kidanja.
Analogo prema jednaini 14, sila Fc4k hidrocilindra c4 kaike kada deluje otpor
W3k kidanja, u jednaini 15 ima vrednost:
a6 sin 62 W3 k xw2 x4 xk m4 g xt 42 x42

Fc4k (16)
a5 sin 52 a4 sin 42
Optereenja mehanizama pri prenosu materijala. - Analiza optereenja

hidrocilidara mehanizama manipulatora pri prenosu zahvaenog materijala se odreuje
za tri karakteristina poloaja: a) poloaj 3 (sl.2b) sa zadatim uglom prohodnosti p
kada je zavren proces punjenja (zahvatanja) i poinje prenos materijala, b) poloaj 4
(sl. 2b) pri najveem horizontalnom dohvatu strele i v) poloaj 5 pri najveoj visini
podizanjana strele. Pri emu se uzima da se u sva tri poloaja manipulatora pravac de-
lovanja teine kaike, zapremine V, i zahvaenog materijala, gustine z, poklapaju i
prolaze kroz sredite zgloba O4. Tako da je je pogonski mehanizam kaike rastereen i
da je sila hidrocilindra kaike zanemarlivo mala: Fc43 Fc44Fc450.
Sa uvedenim pretpostavkama, na primer za poloaj 4, iz uslova ravnotee
Mo3=0 manipulatora za osu zgloba O3 odreuje se potrebna sila Fc34 hidrocilindra
strele neophodna da se obavi prenos zahvaenog materijala:
g m4 zV xt44 x3 m3 xt34 x3 k sh
Fc34 (17)
a3 sin 34
gde je: z - gustina zahvaenog materijala, V - zapremina kaike, 34 - ugao
mehanizma strele pri poloaju 4 manipulatora, ksh - koeficijent nosivosti mehanizma
121
(uzima se kada je kinematiki lanac maine otvorene konfiguracije).

Slinim postupkom se odreuju potrebne sile Fc33, Fc35 hidrocilindra strele za
poloaje 3 i 5 manipulatora.
Dalim postupkom sinteze se prema izdvojenim maksimalnim vrednostima sila
hidrocilindara pogonskih mehanizama, izborom maksimalnog pritiska hidrostatikog
sistema kojih ih napaja, odreuju veliine hidrocilindara, odnosno raunaju se njihovi
prenici klipova i klipnjaa prema kojima se biraju, iz datoteke raspoloivih, standarne
veliine hidrocilindara. Pri izboru veliine hidrocilindara uvedena su ogranienja koja se
odnose na maksimalno dozvolenu brzinu izvlaenja i uvlaenja klipnjae i elastinu
stabilnost (izvijanje) hidrocilindara [8], [9].
4 ZAKLJUAK
Razvijeni softver za generisanje varijantnih reenja pogonskih mehanizama
manipulatora utovarivaa omoguuje formiranje skupa moguih varijantnih reenja
pogonskih mehanizama manipulatora utovarivaa Z kinematike. Iz skupa moguih
varijantnih reenja, daljim postupkom sinteze korienjem razvijenog softvera vri se
optimalni izbor reenja pogonskih mehanizama manipulatora utovarivaa korienjem
viekriterijumskog metoda optimizacije.
ZAHVALNOST
Ovaj rad predstavlja rezultat tehnokog projekta No. TR35049, koji je podran
od strane Ministarstva prosvete, nauke i tehnolokog razvoja Rebulike Srbije.
LITERATURA
[1] Janoevi, D. (2006). Projektovanje mobilnih maina, Mainski fakultet Univerziteta
u Niu.
[2] Shen ,J., Wang, G., Bi, Q., J. Qu (2013). A comprehensive genetic algorithm for design
optimization of Z-bar loader working mechanism. Journal of Mechanical Science and
Technology, Vol.11, No.27, pp. 3381-3394.
[3] Surface vehicle standard (1992), SAE J732, Handbook.
[4] Pavlovi, J., Jovanovi M., Milojevi, A (2014). Optimal synthesis of the manipulator
using two competitive method. Facta universitatis Series: Mechanical Engineering, Vol.
12, No 1, pp. 61 - 72.
[5] Pavlovi, J., Janoevi, D., Jovanovi, V., Mili, P. (2014) Dynamic analysis of the Z-bar
loader working mechanism. In proc. The Fifth International Conference
TRANSPORT AND LOGISTICS TIL 2014, pp. 119-123.
[6] Janoevi, D., Pavlovi, J., Jovanovi, V., Mili, P. (2014) Kinematic and Dynamic
Simulation of the Wheel Loaders with the Z-bar Working Mechanism, IMK-14
Research & Developement in Heavy Machinery. Vol. 20(2) pp. 39-46.
[7] Janoevic, D., Mitrev, R. Andjelkovic, B., Petrov P. (2012). Quantitative measures
for assessment of the hydraulic excavator digging efficiency, Journal of Zhejiang
University-SCIENCE A (Applied Physics & Engineering), pp. 926-942.
[8] Jovanovi, V., Janoevi, D., Pavlovi, J., Petrovi, N. (2014) Definition of Directed
Digging Force for Assessment of the Hydraulic Excavator Work, In proc. The
Eighth International Symposium Machine and Industrial Design in Mechanical
Engineering - KOD 2014. pp. 51-54, Balatonfred, Hungary.
[9] www.komatsu.com, zvanini sajt firme Komatsu (1.11.2014). pristupljeno
1.10.2016
122
_____________________________________________________________________________
INFLUENCE OF TORQUE VARIATION ON STRESS OF TIMING BELT

Blaa Stojanovi1, Sandra Velikovi2, Marko Risti3, Saa Jovanovi4,
Aleksandar Skuli5
Abstract: The influence of torque variation on the stress value of the teeth of timing belt
is shown in the paper. Tests were performed on timing belt drive with trapezoidal
profile of teeth. Analysis of the results shows that the stress changes depending on the
position of the belt teeth on a wraparound arc. Also, the size of torque affects the value
of the stress. The highest stress values occur in the first teeth in the mesh, while the
lowest stress values occur on value of 6th and 7th tooth. Stress analysis was
performed using Finite Element Analysis (FEA) using Autodesk Inventor Professional
2016 and Ansys Workbench 2013.
Key words: timing belt drives, Finite Element Analysis, torque, stress
1 INTRODUCTION
Driving systems have very significant role in the mechanical industry thanks to
very extensive researches and experiences; nowadays, it is possible to perform an
optimal selection of the driving machine, as well as, the way of its adaptation to the
working machine. The transfer of the mechanical energy, from the driving machine to
the working one, is performed by means of transmission shafts, coupling and
transmissions [1-3].
A timing belt drive is a relatively young drive designed by Richard Case in
1946, as a drive for a sewing machine [4,5]. It was a rubber belt with trapezoidal teeth
profile which had replaced the belts with metal clips.
Timing belts drives where the torque is transmitted by meshing of the belt teeth
and belt pulley, causes the disability of elastic sliding, as well as, the need for previous
straining. They have a number of good features: small sliding, constant speed, small
mass, high degree of efficiency, cheap maintenance, small load of bearings, etc...
Timing belt drives are used starting with computing machines, computers, and
instruments, along with machine tools, pumps, and compressors, to heavy industrial
facilities. The best known application of the timing belt drives is in the automotive
1 Blaa Stojanovi, Faculty of Engineering University of Kragujevac, Kragujevac,Serbia, blaza@kg.ac.rs (CA)

2
Sandra Velikovi, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia, sandrav@kg.ac.rs
3 Marko Risti, Faculty of Engineering University of Kragujevac, Kragujevac,
4 Saa Jovanovi, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia, dviks@kg.ac.rs
5 Aleksandar Skuli, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia,
123
Blaa Stojanovi, Sandra Velikovi, Marko Risti, Saa Jovanovi, Aleksandar Skuli
industry and the industry of IC engines camshaft drive. The popularity of the timing
belts in the automotive industry has accelerated their use in the other industries [6-9].
2 KINEMATICS OF MESHING OF TIMING BELT DRIVES

Transmission of power and motion, by using timing belt, is made by shape and
friction. At power transmission, the belt teeth enter the meshing with belt pulleys belt
groove, where lateral and radial clearances occur. At mashing belt teeth and belt
pulley's teeth, it comes to displacing the belt towards the tangential, radial and axial
direction. These displacements occur due to the torque, previous tension,
circumferential force, radial force, centrifugal force, deformation of the belt due to its
bending and straining, air, construction of the belt, tensile member and belt pulley,
accuracy of production and assembly work, etc. It is obvious that, due to a large
number of influential parameters, kinematic analysis represents a very complex and
complicated process [2,6,10].
The belt tooth enters the meshing with the driving pulley, maximally strained
due to previous tension. During entering the meshing, the apex of the belt tooth
contacts the flank of the belt pulley tooth. At that moment, a line contact occurs. Due to
interference, the belt tooth cuts into the flank surface of the belt pulley tooth. Due to the
elastic properties of the belt and large stiffness of the belt pulley, a deformation of the
belt tooth occurs (Figure 1, position 4). The deformation of the belt tooth increases,
while at the same time, the contact surface of the belt and the belt pulley increases, as
well. A contact point between the belt tooth and belt pulley moves from the apex of the
belt pulley toward its root.
The maximum deformation of the tooth occurs in the position 2 (Figure 1). The
reduction of deformations occurs due to the action of internal stresses and turning of
the belt and the belt pulley. And then, a contact over surface occurs. The process of
entering the belt teeth into the meshing with the belt pulley is followed by the relative
sliding of their flanks, with appearance of the friction force. The value of nominal force
changes according to parabolic law, which leads to a variation of the friction force. The
greatest value of the nominal force and friction force occurs at the root of teeth.
Figure 1. Layout of belt teeth entering the meshing with the teeth of the belt pulley
drive
124
Influence of torque variation on stress of timing belt
3 MODEL OF THE TIMING BELT DRIVE

The timing belt drive, representing the subject of the analysis, is the
transmission that is widely used with passenger cars with engine performance of 1124
cm3. The basic technical data of the timing belt are given in the Table 1.
Table 1. Technical characteristics of the timing belt drive

Parameter Value
Teeth number (driving pulley) z1 21
Teeth number (driven pulley) z2 42
Teeth number of timing belt z k 116
Belt index L
Belt pitch p 9.525 mm
Belt width b 19.05 mm
Angle of the teeth belt profile 40
The tests of tribological characteristics of this timing belt have been done on a
specially designed test workbench at the Faculty of Engineering in Kragujevac [11].
Input data of the timing belt drive for numerical analysis, correspond to the
testing conditions on the worktable:
Torque M1=7.504 Nm,
Input number of revolutions: n1=1400 min-1.
Timing belt, for its complex structure, consist of several elements (teeth,
backing surface, tensile member and outside fabric) which are made of different
materials. Considering these facts, and because that there is no corresponding data in
the software package, the new material has been made and its characteristics are
given in the Table 2 [12-14].
Table 2. Basic characteristics of the timing belt material

Name New material for belt
Mass Density 0.93 g/cm3
Yield Strength 82.75 MPa
General
Ultimate Tensile
27.6 MPa
Strength
Young's Moduls 10 GPa
Stress Poissin's Ratio 0.35 ul
Shear Moduls 0 GPa
Expansion 0.000000000558
Coefficient ul/c
Stress Thermal Thermal
0.14 W/(m K)
Conductivity
Specific Heat 450 J/(kg c)
Part Name(s) Synchronous Belt
A steel, with characteristics given in the Table 3, has been selected for the
material of the timing belt.
125
Table 3. Characteristics of the timing belt pulley material

Name Steel
Mass Density 7.85 g/cm3
Yield Strength 207 MPa
General
Ultimate Tensile
345 MPa
Strength
Young's Moduls 210 GPa
Stress Poissin's Ratio 0.3 ul
Shear Moduls 80.7692 GPa
Expansion 0.00000000012
Coefficient ul/c
Stress Thermal Thermal
56 W (m K)
Conductivity
Specific Heat 460 J/(kg c)
Synchronous Pulley 1
Part Name(s)
Synchronous Pulley 2
4 ANALYSIS OF THE INFLUENCE OF VARIATION OF THE TORQUE ON

STRESS VALUES OF TIMING BELT
Based on the technical characteristics of belt and belt pulley given in the
Tables 1, 2, and 3, the modelling of the timing belt drive in the software package
Autodesk Inventor Professional 2016 [15] has been performed. The model of the timing
belt drive is presented in the Figure 2a.
It is necessary to define the type of the contact also by defining and imposing
constrains, loads, and materials in Autodesk Inventor. In this case, it is about the
contact that is realized in the meshing of belt teeth and belt pulley teeth. After
determining parameters, the network of finite elements has been defined as well, i.e.
the type and the size of the network. The model with all entered parameters and
included network of finite elements have been presented in the Figure 2b [14].
a) b)
Figure 2. a) Model of the timing belt drive, b) Model of the timing belt drive with the
network of finite elements
126
Infliction of the load is done by placing the torque on the place of the driving
pulley. By calculation, the torque on the drive pulley is M 1 7,504 Nm . The stress
condition of the timing belt at the given torque value has been presented in the Figure
3.
Figure 3. Stresses in the belt at the load torque M=7500 Nmm
The analysis of the value of Von Mises stresses in the teeth of timing belt along
the wraparound arc has been performed for different torque values 5 Nm, 7.5 Nm, 15
Nm and 30 Nm.
The Figure 4 presents the values of Von Mises stresses for all teeth in the
meshing and different torque values [14].
Figure 4. The plot of influence of torque variation on the stress values in the belt teeth
127
From the Figure it can be seen that the highest stress is in the tensile branch of
the first two teeth, and then the stress decreases at the transition towards the tensile
branch. However, the minimum values of stresses are in the 6th and 7th tooth.
Afterwards, the stress value increases again and the maximum values occur in the 9th
and 10th tooth. This stress distribution is in accordance with kinematic analysis by
which it is confirmed. The minimum stress value occurs in the teeth which are located
in the middle of wraparound angle (arc), primarily due to discharging, but also due to
difference in the deformation of certain teeth. The clearances, occurring due to
deformation, as well as, the values of normal and friction forces, change their
directions and values after half way of wraparound arc, which has been confirmed by
static analysis.
The values of Von Mises stresses increases with the increase of torque, as
expected. However, it has been noticed that the size of finite elements has very small
influence on the stress value (approximately 1.5%) (Figure 5) [14].
Figure 5. The plot of influence of size variation of finite elements
5 CONCLUSION
Based on conducted timing belt stress analysis with trapezoidal tooth profile by
using finite elements it has been noticed that the maximum stress values occur on the
first teeth in the mesh. It has also been noticed that the stresses change depending on
the position of the belt teeth or the minimum stress values occur on the teeth which are
located in the middle of wraparound angle. During the belt displacement along the
wraparound angle of the belt pulley, it come to bending and straining of the belt. Unlike
flat belts, where the bending of timing belts is done along the unified curve, the
bending of timing belts is done along the polygonal profile. The bending of the belt
leads to internal losses, as well as, the belt fatigue, or tensile member. The bending
and straining of the belt along the wraparound angle lead to belt deformation. In
addition, the load of the belt teeth decreases from entering of belt teeth in the mesh
with the belt pulley to its exit from the mesh. The first tooth in the mesh, where the
maximum deformations occur, is the most loaded one. Considering the different teeth
128
loads, it comes to formation of uneven deformations of belt teeth along the wraparound
angle. The difference of deformations leads to relative displacement of the first row of
the belt toward tangential direction. Besides that, the belt enters the mesh maximally
strained, and it leaves the mesh with belt pulley unballasted. Due to these
displacements of the belt, it comes to a relative movement of the belt in comparison to
the belt pulley along the wraparound angle. The torque value affects the stress value in
the way that the stress value increases with the increase of torque. The size of the
finite elements has a small influence on the stress value.
ACKNOWLEDGMENT
This paper presents the results obtained during research within the framework
of the project TR 35021, supported by the Ministry of Education, Science and
Technological Development of the Republic of Serbia.
NOMENCLATURE
z teeth number (driving pulley),
p belt pitch, mm
b belt width, mm
torque, Nm
n input number of revolutions, min-1
Greek symbols
angle of the teeth belt profile,
REFERENCES
[1] Perneder, R. Osborne, I. (2012). Handbook Timing Belts: Princilpes, Calculations,
Applications, Springer-Verlag Berlin Heidelberg.
[2] Stojanovi, B., Blagojevi, M. (2015). Mechanical transmissions, Faculty of
Engineering, University of Kragujevac.
[3] Tanasijevic, S. (1994). Mechanical drives: chain drives, timing belt drives, cardan
drives, Yugoslav tribological society, Faculty of mechanical engineering
Kragujevac.
[4] Stojanovi, B., Miloradovi, N. (2009). Development of timing belt drives, Mobility
and Vehicle Mechanics, vol. 35, no. 2, p.p. 31-36.
[5] Case, Y. R. (1954). Timing belt drive, McGraw Hill Book Company, INC, New York.
[6] Stojanovi, B. (2007). Characteristics of tribological processes in timing belts (in
Serbian), Masters thesis, Faculty of mechanical engineering Kragujevac.
[7] Stojanovic, B., Ivanovic, L. (2015). Application of aluminium hybrid composites in
automotive industry, Tehnical Gazette, vol. 22, no. 1, p.p. 247251.
[8] Stojanovic, B., Glisovic, J. (2016). Automotive Engine Materials, in: Saleem
Hashmi (Ed), Reference Module in Materials Science and Materials Engineering,
Oxford: Elsevier, p.p. 19.
[9] Stojanovic, B. Velickovic, S., Blagojevic, J., Catic, D. (2015). Statistical analysis of
roughness timing belt in operation using full factorial methods. Journal of the
Balkan Tribological Association, vol. 21, no 3, p.p. 514524.
129
[10] Stojanovic, B. Tanasijevic, S., Miloradovic, N. (2009). Tribomechanical Systems in

Timing Belt Drives, Journal of the Balkan Tribological Association, vol. 15, no. 4,
p.p. 465-473.
[11] Stojanovic, B., Ivanovic, L., Miloradovic, N. (2010). Testing of Timing Belt Drives,
Research & Development IMK-14, vol. 37, no. 4, p.p. 77-80.
[12] Milanovi, I., Stojanovi, B., Blagojevi, M., Marjanovi, N. (2011). Influence of
torque variation on timing belt drives load distribution, The 7th International
scientific conference IRMES 2011, Zlatibor, Serbia, p.p. 559-562.
[13] Milanovi, I. (2010). Calculation and analysis of timing belt drives, Master thesis,
Kragujevac.
[14] Risti, M. (2016). Calculation and analysis timing belt drive with trapezoidal profile
of teeth. Master thesis, Kragujevac.
[15] Autodesk inventor, software tutorial.
130
_____________________________________________________________________________
UTICAJ POLOAJA PODUNIH UKRUENJA NA OPTIMALNE

DIMENZIJE SANDUASTOG POPRENOG PRESEKA GLAVNOG
NOSAA JEDNOGREDNE MOSNE DIZALICE
Goran Pavlovi1, Vladimir Kvrgi 2, Mile Savkovi3, Milomir Gai4,
Neboja Zdravkovi5
Rezime: U radu je razmatran problem optimizacije sanduastog poprenog preseka

glavnog nosaa jednogredne mosne dizalice. Teite rada je istraivanje uticaja koji
ima poloaj podunih ukruenja na vertikalnim limovima na optimalne dimenzije
sanduastog poprenog preseka glavnog nosaa, kao i na ukupnu masu nosaa. Za
poloaj podunih ukruenja uzete su razliite vrednosti koje se najee preporuuju.
Smanjenje mase nosaa postavljeno je kao funkcija cilja. Kao metoda za odreivanje
optimalnih geometrijskih parametara kutijastog preseka korien je GRG2 algoritam
optimizacije. Kao funkcije ogranienja uzeti su kriterijumi vrstoe, lokalne stabilnosti
limova, krutosti, dinamike krutosti, minimalna debljina limova, kao i ogranienja
tehnologinosti. Prikazani su rezultati za karakteristine poloaje podunih ukruenja
za jednu izvedenu jednogrednu mosnu dizalicu.
Kljune rijei: eurokodovi, jednogredna mosna dizalica, optimizacija, poduna

ukruenja, sanduasti popreni presek
THE INFLUENCE OF THE POSITION OF LONGITUDINAL STIFFENERS TO THE

OPTIMUM DIMENSIONS OF THE BOX SECTION OF THE SINGLE-GIRDER
BRIDGE CRANE
Abstract: The paper considers the problem of optimization of the box section of the
single-girder bridge crane. The focus of this paper is to explore the influence that has
the position of the webs longitudinal stiffeners on optimum geometrical parameters of
box section of the main girder, as well as its mass. For the positions of longitudinal
stiffeners are taken different values that are commonly recommended. Reduction of
1dr ma.in., Goran Pavlovi, Lola Institut, Beograd, Srbija, goran.pavlovic@li.rs

2dr ma.in., Vladimir Kvrgi, Lola Institut, Beograd, Srbija, vladimir.kvrgic@li.rs
3 prof. dr Mile Savkovi, Fakultet za mainstvo i graevinarstvo u Kraljevu, Kraljevo, Srbija,
savkovic.m@mfkv.kg.ac.rs
4 prof. dr Milomir Gai, Fakultet za mainstvo i graevinarstvo u Kraljevu, Kraljevo, Srbija,
gasic.m@mfkv.kg.ac.rs
5 doc. dr Neboja Zdravkovi, Fakultet za mainstvo i graevinarstvo u Kraljevu, Kraljevo, Srbija,
zdravkovic.n@mfkv.kg.ac.rs
131
Goran Pavlovi, Vladimir Kvrgi, Mile Savkovi, Milomir Gai, Neboja Zdravkovi
the mass of the main girder is set as the objective function. The algorithm of
generalized reduced gradient (GRG2 algorithm) was used as the methodology for
determination of optimum geometrical parameters of the box section. The criteria of
permissible stresses, local stability of plates, static deflection, dynamic stiffness,
minimum plate thickness and production feasibility were applied as the constraint
functions. Optimization results for typical positions of longitudinal stiffeners were
obtained for single-girder bridge crane in used.
Key words: box section, eurocodes, longitudinal stiffeners, optimization, single-girder

bridge crane
1 UVOD
Glavni zadatak u procesu projektovanja nosee konstrukcije mosne dizalice
jeste odreivanje optimalnih dimenzija poprenog preseka glavnog nosaa.
Jednogredne mosne dizalice imaju iroku primenu u industrijskim
postrojenjima, pre svega za srednje i vee nosivost, a kao glavni nosa najee se
koriste sanduasti popreni preseci. Masa ovog nosaa ima najvei uticaj na ukupnu
masu jednogredne mosne dizalice, pa je iz tog razloga veoma znaajno izvriti njeno
smanjenje u cilju dobijanja lake konstrukcije, ime se smanjuje i trina cena dizalice.
Veliki broj radova se bavi problemom analize napona glavnih nosaa dizalica,
kao i njihovom optimizacijom, pri emu se najvei broj radova odnosi na dvogredne
dizalice, zbog njihove vee primene u odnosu na jednogredne. Meutim broj
instaliranih jednogrednih dizalica u industrijskim postrojenjima je znaajan tako da je
opravdana optimizacija njihovih glavnih nosaa. U mnogim sluajevima je racionalnija
primena jednogrednih u odnosu na dvogredne mosne dizalice sa stanovita utede
mase glavnog nosaa 1.
Veina autora kao kriterijume pri optimizaciji uzima granini napon ili granini
napon i granini ugib. U zadnje vreme kriterijum dinamike krutosti 4, 7, 9 se
primenjuje sve vie, bona stabilnost nosaa 4, 5, 10, kao i lokalna stabilnost limova
kutijastog nosaa 2, 5, 7, 10, odnosno ispituje se uticaj podunih ukruenja, a takoe
i uticaj poloaja vertikalnih ukruenja (dijafragmi) unutar nosaa 3, 8.
Veliki uticaj u utedi materijala kutijastih nosaa mosnih dizalica ima pravilno
postavljanje ukruenja, to e biti prikazano u sledeim radovima.
Optimizacija zavarenog kutijastog nosaa 2 pokazala je da se pravilnim
postavljanjem podunih ukruenja moe doi do utede u iznosu od 18-21%. Veliki
znaaj u ovim analizama ima primena MKE. U radu 5, primenom programa ANSYS,
vrena optimizacija postojeeg reenja mosne dizalice variranjem razliitih poloaja
podunih i vertikalnih ukruenja. Primena MKE na jednogrednoj mosnoj dizalice
izvrena je u radu 6, gde je ostvarena odreena uteda u masi korienjem ANSYS i
MATLAB programa. U radu 7 izvrena je komparativna analiza sanduastog nosaa
mosne dizalice prema poljskim i evropskim standardima primenom vie paketa za
MKE u kombinaciji sa MS EXCEL, pri emu su se koristila kako poduna, tako i
vertikalna ukruenja. U radu 8, primenom MKE, izvrena je analiza naprezanja
vertikalne dijafragme i gornjeg pojasnog lima sanduastog nosaa, i ove vrednosti su
poreene sa eksperimentalnim.
Pored primene MKE, u zadnje vreme sve ee koriste razliite numerike
metode optimizacije koje su naroito pogodne kod viekriterijumskih optimizacija 2-4,
9, 10. U radu 9, viekriterijumskom optimizacijom, ostavrena je uteda u materijalu
od 17,11% za postojee reenje dizalice.
132
Uticaj poloaja podunih ukruenja na optimalne dimenzije sanduastog poprenog preseka
glavnog nosaa jednogredne mosne dizalice
Veliku primenu kod viekriterijumskih optimizacija ima GRG2 algoritam 10,

koji je naroito pogodan pri korienju modula Solver u okviru EXCEL programskog
paketa 11. Primena ovog algoritma u procesu optimizacije nosaa mosnih dizalica
prikazana je u radu 10.
Navedeni radovi ukazuju na znaaj optimizacije glavnog nosaa dizalice.
Imajui u vidu da je u industriji prisutan veliki broj jednogrednih mosnih dizalica ovaj
rad se upravo bavi istraivanjem optimizacije zatvorenog poprenog preseka
jednogrednih mosnih dizalica.
Imajui u vidu napred navedene rezultate i zakljuke, cilj ovog rada jeste da se
definiu optimalne vrednosti parametara geometrije poprenog preseka sanduastog
nosaa koje e dovesti do smanjenja njegove mase, a pre svega znaaj pravilnog
postavljanja podunih ukruenja na vertikalnim limovima kutijastog nosaa.
2 MATEMATIKA FORMULACIJA OPTIMIZACIONOG PROBLEMA

Zadatak optimizacije je definisanje geometrijskih parametara poprenog
preseka nosaa koji daju njegovu minimalnu povrinu (funkcija cilja), pri emu moraju
biti zadovoljeni zadati granini uslovi (funkcije ogranienja).
Opta matematika formulacija ovog optimizacionog problema glasi:
minimizacija funkcije cilja f ( X ),
u odnosu na funkcije ogranienja gi ( X ) 0, i 1,..., m,
i li X i ui , i 1,..., n, ui li , X x1,..., xn
T
Promenjivi parametri xi nalaze se unutar granica li i ui. Funkcija cilja i funkcije

ogranienja bie prikazane detaljnije u narednom delu.
3 FUNKCIJA CILJA
Funkciju cilja predstavlja povrina poprenog preseka sanduastog nosaa
(Slika 1.). U radu su tretirane sve geometrijske promenjive: h, b, b1, b2, t1, t2 i t3.
y
b
1
t1
2
3xt2
t2 t2
h
x
b1
P P
A
t3
C B
b2
Slika 1. Sanduasti popreni presek jednogredne mosne dizalice

133
Kao to se vidi, povrina poprenog preseka zavisi od visine i irina pojaseva

nosaa kao i debljina limova.
Ulazni parametri bitni za ovaj optimizacioni problem su: Q, L, mk, d, fy, E, , K,
fd, Td,...
Povrina poprenog preseka, odnosno funkcija cilja, glasi:
A 2 h t2 b t1 b2 t3 (1)
4 FUNKCIJE OGRANIENJA
4.1 Kriterijum graninih napona

Provera napona se vri u odreenim takama nosaa. Radni napon r mora biti
manji od graninog (kritinog) napona k.
r k , (2)
fy
k (3)
m 1
Radni naponi u takama 1 i 2 poprenog preseka (Slika 1.) zavise od napona

savijanja i tangencijalnih napona, dok u takama A, B i C zavise i od lokalnih napona
usled pritisaka tokova kolica.
Maksimalni napon u taki 1:
Mv Mh
u ,1 (4)
Wx1 Wy1
Maksimalni napon u taki 2:

Mv Mh F S
z2 , 2 t x 2 , u ,2 z 2 2 3 22 (5)
Wx 2 Wy 2 2 t2 I x
Lokalni naponi usled pritisaka tokova kolica uzimaju se prema 13, i u

takama A, B i C se odreuju na osnovu sledeih izraza:
oxj , Ed cxj P / t32 k , oyj , Ed cyj P / t32 k , j A, B, C (6)
Parcijalne vrednosti ovih napona takoe moraju biti manje od kritinih.

Maksimalni napon u taki A:
Mv Mh F S
zA oxA , Ed , A t xA , u , A zA 2 oyA , Ed 2 zA oyA , Ed 3 A 2 (7)
WxA WyA 2 t2 I x
Maksimalni napon u taki B:

Mv Mh
u,B oxB , Ed (8)
WxB WyB
Maksimalni napon u taki C:

Mv Mh
zC oxC , Ed , u ,C zC 2 oyC , Ed 2 zC oyC , Ed (9)
WxC WyC
134
4.2 Kriterijum lokalne stabilnosti limova

Provera lokalne stabilnosti se vri kako za pojasni lim, tako i za vertikalne
limove (polje 1 polje 2) prema 14. Posmatra se sluaj kada su vertikalna ukruenja
postavljena na rastojanju 2h, 12 sa jednim redom horizontalnih ukruenja (Slika 2.)
Slika 2. Poduna i vertikalna ukruenja sanduastog nosaa
Poloaj poduih ukruenja bie variran od h1=h/3h/5, kako bi se utvrdilo kako

ova promena utie na optimalne dimenzije, odnosno povrinu poprenog preseka
nosaa. Pomenute vrednosti za poloaj h1 uzete su na osnovu preporuka prema 2, 4,
12.
Da bi bila ostvarena lokalna stabilnost lima, maksimalni napon pritiska mora biti
manji od graninog napona:
max x f y / m , (10)
gde je:
1 0, 22
x ce 1, x 0, 673, (11)
x x 2
x 1, x 0,673, (12)
ce 1, 25 0,12 e , ce 1, 25, (13)
e f ( ) (14)
Koeficijent x odreuje se prema proceduri definisanoj prema 14.

Ova provera se sprovodi kako za pojasni lim ije su dimenzije b1x2h, tako i za
polje 1 i polje 2 vertikalnog lima ije su dimazije h1x2h i h2x2h, respektivno.
4.3 Kriterijum graninog ugiba

Za ovaj kriterijum, posmatra se ugib glavnog nosaa u vertikalnoj ravni, pri
emu mora biti ispunjeno:
F1, st L3
f 1 (1 6 2 ) f d K L, d / L (15)
48 E I x
4.4 Kriterijum graninog perioda oscilovanja

Kod ovog kriterijuma neophodno je analizirati oscilovanje glavnog nosaa sa
135
teretom u vertikalnoj ravni (Slika 3).
1,0
11
m1
Slika 3. Model oscilovanja tereta na glavnom nosau dizalice
Vreme gaenja oscilovanja je merodavno za ovaj kriterijum, i odreuje se iz

izraza (16):
T 6 11 m1 / d Td , (16)
gde se koncentrisana masa na sredini proste grede odreuje se prema izrazu:

m1 Q mk 0, 486 mm , (17)
dok se pomeranje grede izazvano dejstvom jedinine sile odreuje prema:

1, 0 L3
11 (18)
48 E I x
5 NUMERIKI PRIKAZ DOBIJENIH REZULTATA

Optimizacija je izvrena korienjem GRG2 algoritma, primenom alata Solver u
modulu Analysis Excel programskog paketa.
Za ovaj prikaz rezultata korieno je da je tipina klasa dizalica 2, tako da su
odreeni ulazni parametri uzeti prema ovoj klasi. Korieni su karakteristini rasponi od
15 do 25 m i karakteristine nosivosti od 5 do 20 t. Kao materijal je koriem elik
S355, koji se najee koristi kod ovih nosaa.
Minimalna debljina lima koja se sme upotrebiti za vertikalne limove je 5 mm,
dok za pojasne limovi 6 mm, to su dodatne funkcije ogranienja. Takoe, kao jo
jedno ogranienje uzeto je da je minimalna unutranja irina nosaa 25 cm.
Slika 4. Rezultat optimizacije poprenog preseka nosaa jednogredne dizalice
Slika 4. predstavlja dijagram promene povrine poprenog preseka nosaa sa

porastom raspona, pri emu su posmatrane tri karakteristine nosivosti (5 t, 10 t i 20 t)
136
i tri poloaja ukruenja (h/5 puna linija, h/4 takasta linija i h/3 - isprekidana linija).
Na dijagramu se vidi da se sa poveanjem nosivosti i raspona znatno menja povrina
nosaa variranjem poloaja podunih ukruenja, i to su raspon i nosivost vei, to je
vee odstupanje u povrini.
Tabela 1. pokazuje utedu u materijalu pri promeni poloaja ukruenja sa h/3
na h/5 za karakteristine nosivosti i raspone dizalice.
Za dizalicu koja se nalazi u pogonu JEEP-a nosivosti 16 t i raspona 15 m,
dobijene su sledee povrine nosaa: 239,96 cm 2, 231,15 cm2 i 230,25 cm2, za h/3,
h/4 i h/5, respektivno (ostvarena uteda od 4,05% pravilnim postavljanjem ukruenja).
Tabela 1. Uteda u materijalu (%) promenom poloaja podunih ukruenja sa h/3 na

h/5
L (m)
15 18 20 22 25
5 0,00 % 0,00 % 5,96 % 5,31 % 5,36 %
Q (t) 10 7,74 % 2,33 % 2,64 % 3,54 % 10,72 %
20 5,11 % 7,86 % 8,35 % 11,52 % 11,34 %
6 ZAKLJUCI
Potvrda primene GRG2 algoritma izvrena je praenjem promene povrine
poprenog preseka nosaa variranjem poloaja podunih ukruenja prema
preporukama od h/3 do h/5, pri emu se dobila znatna uteda, to znai da se
pravilnim izborom poloaja ovih ojaanja, shodno tehnolokim mogunostima, moe
znatno utedeti na materijalu. Posmatrano je i jedno izvedene reenje dizalice, i
prikazana je promena popvrine i uteda za odreene poloaje podunih ukruenja.
Ova analiza se moe dalje koristiti u cilju istraivanje vezanih za optimizaciju i
utedi mase, tako to se moe isti postupak sprovesti za materijale S275 i S235.
Slina procedura se moe takoe sprovesti i za sitaciju kada bi se uzimala dva reda
horizontalnih ukruenja, to bi bilo u sluaju velikih nosivosti i raspona. Takoe, analiza
se moe proiriti uvoenjem novih kriterijuma.
Prethodno pomenuto predstavlja osnovu za dalja istraivanja u cilju utede
materijala, a takoe i u svrhu optimizacije koja ima za cilj minimalnu cenu kotanja.
NOMENKLATURA
Q nosivost dizalice, t
L raspon dizalice, m
mk masa kolica, t
mm masa konstrukcije nosaa, t
d rastojanje izmeu tokova kolica, m
fy napon granice teenja, kN/cm2
E modul elastinosti glavnog nosaa dizalice, kN/cm2
Mv, Mh momenti savijanja u vertikalnoj i horizontalnoj ravni, kNcm
P, F1,st sila pritiska toka kolica i statika sila tokova na jednoj strani kolica, kN
Ft sila smicanja, kN
K koeficijent koji zavisi od naina upravljanja dizalicom i pogonske klase
fd granini ugib, cm
Ix glavni moment inercije za x osu, cm4
137
Sx statiki moment inercije za karakteristine take za x osu, cm3

Wx, Wy otporni momenti inercije za karakteristine take za x i y osu, cm3
c jx, c jy koeficijenti pritiska u karakteristinim takama za x i y osu, prema 13
Td dozvoljeno vreme gaenja oscilacija (granini period oscilovanja), s
ce koeficijent, prema 14
koeficijent, prema 12
Poasonov koeficijent
1 koeficijent sigurnosti za 1. sluaj optereenja
m faktor otpora, prema 14
x redukcioni faktor, prema 14
x koeficijent koji se odreuje prema 14
e odnos napona, prema 14
LITERATURA
[1] Babin, N., Georgijevi, M., ostakov, R. (1979). Izbor tipa mostovske dizalice
sanduaste konstrikcije u funkciji kriterijuma minimalne teine nosaa, III Seminar
o Transportnim Procesima u Industriji, p.p. 101111, SMEITS, Beograd.
[2] Jarmai, K., Farkas, J. (2001). Optimum cost design of welded box beams with
longitudinal stiffeners using advanced backtrack method, Struct Multidisc Optim,
vol. 21, p.p. 5259.
[3] Jarmai, K., Farkas, J. (2015). Minimum cost design of a double box beam structure
for an over-head travelling crane, International Conference on Engineering
Sciences and Technologies, Technical University of Koice, Slovak Republic.
[4] Mijailovi, R., Jovanovi, M. (1990). Prilog optimizaciji glavnih nosaa mosnih
dizalica, XXI Nauno-Struni Skup o Transportnim Procesima u Industriji, Beograd.
[5] Abid, M., Akmal, M. H., Wajid, H.A. (2008). Optimization of box type girder of
overhead crane, International conference on advanced design and manufacturing
(ICADAM 2008), p.p. 609-618, Haiksou, China.
[6] Liu, P. F., Xing, L. J., Liu, Y. L., Zheng, J. Y. (2014). Strength Analysis and Optimal
Design for Main Girder of Double-Trolley Overhead Traveling Crane Using Finite
Element Method , J Fail. Anal. and Preven, vol. 14, p.p. 76-86.
[7] Gska, D., Pypno, C. (2011). Strength and elastic stability of cranes in aspect of
new and old design standards, Mechanika, vol. 17, no. 3, p.p. 226-231.
[8] Popova, U.I., Olshevskiy, A.A. (2011). Research of tense state of main girder`s
diaphragm of bridge bail crane,
, no. 2, p.p. 79-82.
[9] Tian, G., Zhang, S., Sun, S. (2012). The Optimization Design of Overhead
Traveling Cranes Box Girder, Advanced Materials Research, vols. 538-541, p.p.
2850-2855, Trans Tech Publications, Switzerland.
[10] Zuberi, R.H., Kai, L., Zhengxing, Z. (2008). Design Optimization of EOT Crane
Bridge, Eng Opt 2008 - International Conference on Engineering Optimization, p.p.
192-201, Rio de Janeiro, Brazil.
[11] Arora, J.S. (2011). Introduction to optimum design, ELSEVIER, Oxford, UK.
[12] Ostri, D., Toi, S. (2005). Dizalice, Institut za mehanizaciju Mainskog fakulteta
Univerziteta u Beogradu, Beograd.
[13] European Committee for Standardisation (2007). EN 1993-6, Eurocode 3 - Design
of steel structures - Part 6: Crane supporting structures.
[14] European Committee for Standardisation (2010). prEN 13001-3-1, Cranes -
General Design - Part 3-1: Limit States and proof competence of steel structure.
138
_____________________________________________________________________________
OPTIMIZATION AND PREDICTION OF SAFETY COEFFICIENT FOR

SURFACE DURABILITY OF PLANETARY GEARBOX USING
TAGUCHI DESIGN AND ARTIFICIAL NEURAL NETWORK
Slavica Miladinovi1, Sandra Velikovi2,
Abstract: Optimization of parameters of planetary transmission by using Taguchi

design was performed in this paper. Used values of safety coefficient for surface
durability of internal gear of planetary gearbox were obtained by calculation.
Considered parameters for optimizing are material, module and gear width. The
influence of each parameter on the safety coefficient for surface durability of internal
gear at 95% confidence interval was found by applying ANOVA analysis. The most
influential parameter is gear module with a 74.034%, followed by the width of the gear
with 16,858% and 8,874% material. Prediction of safety coefficient for surface
durability of internal gear of planetary gearbox was performed by applying Artificial
Neural Network (ANN).
Key words: Planetary gearbox, optimization, Taguchi design, ANN
1 INTRODUCTION
A special type of mechanical gear transmissions is planetary gear which are
used when large transmission ratios, high degree of efficiency, durability in operation,
low level of noise, and vibration are needed. Gear transmissions with movable axes
are planetary gears. One simple planetary gear consists of two concentric central
gears with immovable axes and of one or more satellites spinning around its axis and
around the axis of the central gear. As for the central gears, the planetary gear may
consist of: two central gears with external gearing; or one central gear with external
gearing, and one central gear with internal gearing; or with both central gears with
internal gearing [1, 2]. Planetary gears can be used with helicopters, car gearboxes,
different industrial machines, tools, wristwatches, aviation and space industry, even
with childrens toys [3]. According to [4], these transmissions are denoted as follows:
Taype of transmission: immovablemembre and basic members attached to external
shafts.Type of transmission is marked with letters from -. Type of transmission:
has one-sided satellite, and have dual satellite, D has a pair of mutually meshed
1 Slavica Miladinovi, Faculty of Engineering University of Kragujevac, Kragujevac, slavicam@kg.ac.rs

2 Sandra Velikovi, Faculty of Engineering University of Kragujevac, Kragujevac, Serbia, sandrav@kg.ac.rs
139
Slavica Miladinovi, Sandra Velikovi
satellites, while the type transmission has bevel gears [4]. The analysis of the
b
transmission with the mark Aha was performed in this paper.
Planetary gears are, due of its characteristics, the subject of many theoretical
and experimental researches. For the simple planetary gear type , N. Ibrahimi has
observed the change of transmission ratio and the degree of efficiency, which occured
with the change of numbers of gear teeth of planetary gear. He has presented the
results in the form of diagram and based on it, he has performed the optimization of the
planetary gear [5]. J. Stefanovi-Marinovi et al. have performed the optimization of the
simple planetary gear by observing the results obtained by the change of the number
of gear teeth, module, number of satellites and gear width [6]. Sourabh Mandol et al.
have obtained the linear regression model for predicting a nominal value of safety
factor of the planetary gear by applying Taguchi method [7]. Khoualdia et al have used
neural networks for monitoring and diagnosticating the condition of gears and bearings
of rotating machines. For training of neural network, they have used time domain
parameters and disadvantages of binary codes for input and output. For finding the
best neural network, i.e. its architecture, they have applied two methods, Taguchi
standard orthogonal array and Grey-Taguchi method. They have come to the
conclusion that this kind of system can be successfully applied for monitoring and
diagnostician the condition of rotational machines [8].
The influence of gear material, gear width, and the module on the safety
coefficient for the surface durability of the internal gear of the planetary gear have been
tested in this study by using Taguchi design experimental technique. The optimal
values of the considered parameters are found in order to obtain satisfactory values of
the safety coefficient for the surface durability of the internal planetary gear. While the
influence of each parameter individually on the safety coefficient for the surface
durability of the gear with internal gearing has been found by applying ANOVA analysis
(analysis of variance). ANN has been applied in order to develop the prediction model
for the safety coefficient for the surface durability of the gear with internal gearing and it
has been compared to the regression model.
2 PLANETARY GEARBOX
b
The planetary gear type Aha has been analysed within this paper. It can be
seen that the transmission type A has been analysed, indicating that it is the
transmission with one-sided satellite. The upper index b in the marking represents
immovable member, while the lower indexes correspond to the basic members and h
which are attached to the external shafts. The first member in the lower index is h
indicating that this member transfers the maximum torsion moment. It is obtained that
the number of satellites is 3, a total transmission ratio is 4.5, while the number of teeth
of gear with internal gearing is 70, by the calculation according to [3, 4 and 9]. A
variation of the module, gear width, and gear material have been performed for the
purpose of the optimization of this gear, and afterwards, its influence of the safety
coefficient for the surface durability of the internal gear g has been monitored. The
modules used in the optimization are: 2.5 mm; 2.75 mm and 3 mm; the width of the
gears are: 27 mm, 30 mm and 33 mm; and the materials are: 16MnCr5 (4320), 28Cr4
(4134) and C15E (1221).
140
Optimization and prediction of safty coefficient fot surface durability of planetary gearbox using
taduchi design and artificial neural network
3 TAGUCHI METHOD
The simplest and the most efficient method for defining and researching all
possible conditions, which include more factors, parameters, and variables in the
experiment, is Taguchi method. Over the time, it has become the powerful and robust
engineering tool by which the optimization and evaluation of the influential parameters
are performed. In order to obtain more accurate results a well-organized experimental
design is always needed [10-13].
Three factors are considered in this paper: material, module and gear width,
and each of them has three levels. The parameters and their levels are given in Table
1.Taguchis L27 Orthogonal Array has been used in the design of experiments and it is
presented in Table 2. The table, also presents the results obtained by training with help
of ANN method.
Table 1. Levels of basic factors

Level
Control factors Units
I II III
A: Material / 1 16MnCr5 2 28Cr4 3-C15E
B: Module mm 2.25 2.50 2.75
C: Gear width mm 27 30 33
Table 2. Orthogonal matrix L27 with calculation results, calculated S/N ratios and ANN
results
A B C SHa S/N ratio ANN Regression
1 1 2.25 27 2.02 -6.10703 1.984226 2.045001
2 1 2.25 30 2.12 -6.52672 2.202744 2.155001
3 1 2.25 33 2.22 -6.92706 2.218981 2.265001
4 1 2.50 27 2.24 -7.00496 2.235081 2.275556
5 1 2.50 30 2.36 -7.45824 2.352311 2.385556
6 1 2.50 33 2.47 -7.85394 2.478868 2.495556
7 1 2.75 27 2.46 -7.8187 2.497408 2.506112
8 1 2.75 30 2.59 -8.266 2.594069 2.616112
9 1 2.75 33 2.71 -8.65939 2.710245 2.726112
10 2 2.25 27 2.05 -6.23508 2.050308 1.986112
11 2 2.25 30 2.15 -6.64877 2.139835 2.096112
12 2 2.25 33 2.25 -7.04365 2.239595 2.206112
13 2 2.50 27 2.28 -7.1587 2.24585 2.216667
14 2 2.50 30 2.39 -7.56796 2.392466 2.326667
15 2 2.50 33 2.50 -7.9588 2.627497 2.436667
16 2 2.75 27 2.50 -7.9588 2.461146 2.447223
17 2 2.75 30 2.63 -8.39911 2.629426 2.557223
18 2 2.75 33 2.75 -8.78665 2.74378 2.667223
19 3 2.25 27 1.92 -5.66602 1.924143 1.927223
20 3 2.25 30 2.02 -6.10703 2.009781 2.037223
21 3 2.25 33 2.11 -6.48565 2.112073 2.147223
22 3 2.50 27 2.13 -6.56759 2.129891 2.157778
23 3 2.50 30 2.24 -7.00496 2.267556 2.267778
24 3 2.50 33 2.34 -7.38432 2.425219 2.377778
25 3 2.75 27 2.34 -7.38432 2.33928 2.388334
26 3 2.75 30 2.46 -7.8187 2.463276 2.498334
27 3 2.75 33 2.57 -8.19866 2.621196 2.608334
141
3.1 Signal-to-Noise Ratio (S/N Ratio) and ANOVA

Taguchi method is a method that chooses the most suitable combination of the
levels of controllable factors by using S/N tables and orthogonal arrays against the
factor that form the variation. This method recommends the use of the S/N ratio to
measure the quality characteristic deviating from the desired values and quality
characteristics are: smaller-the-better, larger-the-better, or nominal-the-best. [10-13]
The S/N ratio for minimum safety coefficient for surface durability of internal
gear, by using characteristic smaller-the-better, which can be calculated as logarithmic
transformation of the loss function by the equation:
S / N 10log
1
n
y ,2
(1)
where y is the safety coefficient for surface durability of internal gear obtained by the
calculation, and n is the total number of the calculations of the safety coefficient for
surface durability of internal gear.
The Figure 1 presents the main effect plot for S/N ratio for safety coefficient for
surface durability of internal gear.
Main Effects Plot for SN ratios

Data Means
A B
-6.5
-7.0
-7.5
Mean of SN ratios
-8.0
1 2 3 2.25 2.50 2.75

C
-6.5
-7.0
-7.5
-8.0
27 30 33
Signal-to-noise: Smaller is better
Figure 1. Main effect plot for S/N ratio for safety coefficient for surface durability of
internal gear
The optimal factor variation is obtained based on the figure 1. The combination
of the considered factors, in order to obtain lower values of the safety coefficient for
surface durability of internal gear, is A3B1C1. It is noticed that the first factor is on the
third level (which means: A3= C15E), while the other two factors are on the first level
(which means: B1=2.25 mm; C1=27 mm). So that the minimum value of the safety
coefficient for surface durability of internal planetary gear is obtained for these values
of the factors.
The experimental results are analysed with the help of MINITAB 16 [10, 11], a
statistical analysis software, which is widely used in many fields of engineering
research. Results are analysed by ANOVA with a confidence limit of 95% or P-value of
0.05. The results of analysis of variance (ANOVA) are presented in Table 3.
142
Table 3. Analysis of Variance for S/N ratios

Source DF Seq SS Adj SS Adj MS F P Pr (%)
A 2 1.6204 1.6204 0.81018 7951.40 0.000 8.95
B 2 13.4363 13.4363 6.71817 65934.29 0.000 74.23
C 2 3.0426 3.0426 1.52129 14930.47 0.000 16.81
Residual Error 20 0.0020 0.0020 0.00010 0.01
Total 26 18.1013 100
The last column in the Table 3 shows the percentage effect of all factors on the
safety coefficient for surface durability of internal gear. The module with 74.23% has
the greatest influence on the value of the safety coefficient for surface durability of
internal gear, followed by the gear width with 16.81% and the material with 8.95%.
Their error contribution is 0.01%.
4 REGRESSION ANALYSIS
After finding the significant factors, which affect the response, the mathematical
equations through regression analysis have been developed using tools of Minitab to
estimate the safety coefficient for surface durability of internal planetary gear.
Developed regression equation for the safety coefficient for surface durability of
internal gear is:
SHa = - 0.961111 - 0.0588889 A + 0.922222 B + 0.0366667 C. (2)
The course of one variable in relation to another can be monitored and

evaluated based on the regression model. It is possible to predict the safety coefficient
for surface durability of internal gear for different values of the considered parameters
by the mathematical model.
5 ARTIFICIAL NEURAL NETWORK (ANN)

Nowadays, people are striving to reduce the number of experiments, one way
is the use of the artificial neural networks. Due to the complexity of neural networks,
the softwares are commonly used for their training. In this paper, the networks trained
in the software Matlab R2016a [14] are feed forward neural networks. When training
networks in software backpropagation algorithm is used. The basic neural network
consists of three layers, as follows: input layer, hidden layer and output layer. The input
data is obtained by the surrounding environment, the hidden layer is for processing the
data, while output layer represents the result obtained by the network training [15,16].
For the purpose of predicting the behaviour of the safety coefficient for surface
durability of internal gear, the neural network has been created with three inputs, 10
neurons in the hidden layer, and with one output. The material, module and the gear
width are used as the input. The Figure 2 shows the regression coefficient obtained for
training, validation and testing of the obtained results, as well as the overall regression
coefficient which is 0.98. This shows the exceptionally good correlation between the
experimental results (results obtained by the calculation) of the safety coefficient for
surface durability of internal gear and the results obtained by the use of neural
network.
143
Figure 2. Regression plot
The Figure 3 shows the diagram obtained by comparing the experimental

results and the results obtained by the Taguchi and ANN methods.
Figure 3. Comparative review of the results
It is noticed that there is no major deviation of the ANN and regression results
from the calculated one, based on the comparative review of the results. However, in
this case, the results obtained by the Taguchi method are better than the results
144
obtained by the ANN. With high reliability, the ANN and Taguchi methods can be used
to predict the safety coefficient for surface durability of internal gear.
6 CONCLUSION
The calculation of one simple planetary gear was performed in this paper,
followed by the optimization of the transmission by using two softwares for the purpose
of its comparison. Taguchi and ANN methods are applied in order to reduce the costs
and the time of experimentation, and in order to optimize the transmission.
By applying ANOVA analysis, it is noticed that the greatest influence on the
safety coefficient for surface durability of internal gear has the module (74.23%),
followed by the gear width (16.81%) and the material (8.95%). Besides the influence of
each factor individually on the safety coefficient for surface durability of internal gear,
the optimal factor variation was determined. The lowest value of the safety coefficient
for surface durability of internal gear is to be obtained when applying the material
C15E, the module 2.25 mm and the gear width 27 mm.
By comparing the results obtained by the Taguchi and ANN methods, it is
noticed that they are quite similar to the experimental results. Although, in this case,
the Taguchi method gives the closer results, to the experimental ones, in comparison
to the ANN. The results of the applied methods are satisfactory and both methods can
be used, with high reliability, for predicting the safety coefficient for surface durability of
internal gear.
ACKNOWLEDGMENT
This paper presents the results obtained during research within the framework
of the project TR 35021, supported by the Ministry of Education, Science and
NOMENCLATURE
A material,
B module, mm
C gear width, mm
S/N signal-to-noise ratio,
y the safety coefficient for surface durability of internal gear obtained by the
calculation,
n the total number of the calculations of the safety coefficient for surface
durability of internal gear,
CI confidence interval,
F :1,V2 Fisher distribution,
Ve pooled error variance,
r number of repeated trials,
n eff number of effective measured results,
TS Ha total mean value of safety coefficient for surface durability of internal gear,
S Ha safety coefficient for surface durability of internal gear,
A3,B1,C1 the S/N response for the main factors at the designated levels,
145
Greek symbols
confidence level.
REFERENCES
[1] Novakovi, M., Stojanovi, B., Milisavljevi, M., Miladinovi, S. (2016). The
kinematic analysis of Ravigneaux planetary gear set, Technical Diagnostics, vol.
XV, no. 1, p.p. 7-12.
[2] Rosi, B. (2003). Planetary gear transmission, Faculty of mechanical engineering,
Belgrade.
[3] Miladinovi, S. (2014). The selection of optimal parameters of gear pairs planetary
gearbox, Master Thesis, Faculty of Engineering, Kragujevac.
[4] Tanasijevi, S., Vuli, A. (2006). Mechanical transmissions-planetary gears and
variators, Faculty of mechanical engineering, Kragujevac.
[5] Ibrahimi, N. (1979). Optimization of the planetary gear, Master Thesis, Faculty of
Mechanical Engineering, Belgrade.
[6] Stefanovi-Marinovi, J., Petkovi, M., Stanimirovi, I. (2015). Application of the
ELECTRE method to planetary gear train optimization, Journal of Mechanical
Science and Technology, vol. 29, no. 2, p.p. 647-654.
[7] Mandol, S., Bhattacharjee, D., Pranab, D. (2016). Robust optimization in
determining failure criteria of a planetary gear assembly considering fatigue
condition, Structural and Multidisciplinary Optimization, vol. 53, no. 2, p.p. 291-302.
[8] Khoualdia, T., Hadjadj, A.E., Bouacha, K., Abdeslam, D.O. (2016). Multi-objective
optimization of ANN fault diagnosis model for rotating machinery using grey
rational analysis in Taguchi method, The International Journal of Advanced
Manufacturing Technology, p.p. 1-12. Pubishing online, DOI 10.1007/s00170-016-
9278-9
[9] Nikoli, V. (2004). Mechanical elements - theory, analysis, examples, Mechanical
Engineering, Kragujevac.
[10] Stojanovi, B., Babi, M., Velikovi, S., Blagojevi, J. (2016). Tribological
Behavior of Aluminum Hybrid Composites Studied by Application of Factorial
Techniques, Tribology Transactions, vol. 59, no. 3, .. 522-529.
[11] Stojanovi, B., Babi, M., Ivanovi, L. (2016). Taguchi optimization of tribological
properties of Al/SiC/Gr composite, Journal of the Balkan Tribological Association,
vol. 22, no. 3, .. 2200-2213.
[12] Velikovi, S., Stojanovi, B., Babi, M., Bobi, I. (2016) Optimization of tribological
properties of aluminum hybrid composites using taguchi design, Journal of
composite materials, online, DOI: 10.1177/0021998316672294
[13] Miladinovi, S., Velikovi, S., Stojanovi, B., Novakovi, M. (2016). Application of
Taguchi method for the selection of optimal parameters of planetary driving gear,
Technical Diagnostics, in press
[14] MATLAB 7. (2008). Getting Started Guide, The MathWorks, Inc.
[15] Rankovi, V. (2008). Intelligent control, Faculty of mechanical engineering,
Kragujevac.
[16] Stojanovi, B., Velikovi, S., Babi, M., Petrovi, N., Miladinovi, S. (2016).
Optimization and prediction of aluminium composite wear using Taguchi design
and Artificial Neural Network, International Conference BULTRIB '16, Tribological
Journal BULTRIB, in press
146
_____________________________________________________________________________
NUMERICAL ANALYSIS OF ALUMINUM COMPOSITE CYLINDRICAL

GEARS
Slobodan Gari1, Lozica Ivanovi2, Blaa Stojanovi3, Slavica Miladinovi4,
Vladimir Milovanovi5
Abstract: Spur gears are the simplest type of gears, which are widely used in modern
structures. One of the main tasks of researchers in application areas of gears within the
responsible structures, especially in spacecraft propulsion mechanisms, is to obtain compact
gear, small size and weight, while maintaining or improving functional characteristics.
Therefore there was a need to explore new materials that could be used as a replacement
for steel in the manufacturing of gears. A good alternative for steel is hybrid composite with
aluminum matrix and various reinforcements, which provides adequate mechanical
properties, while reducing the weight of the gear. The paper presents the modeling of gears
and analysis of their stress-deformation state using the finite element method. Steel and
composite gears made from aluminum matrix with various reinforcements were tested.
Results from this study show that the gear made of composite material offers enhanced
features compared to metal gears.
Key words: Composite, Deformation, Improvement, Gear, Stress.
1 INTRODUCTION
Through historical development of gear, thanks to technological advances, the use of
gear has become big in various industrial fields. Very form of it allows the economical
production of gears, with easy maintenance and installation [1]. Gears transmit motion and
torque from one shaft to another using a link form, consisting of linked gear teeth [2]. In most
cases, the gears are made of iron alloys. Recently, for the production of specific mechanical
components are used metal matrix composite materials (MMC) [3]. This is due to their
advantages in comparison with polymer composite materials such as light weight, high
strength, greater dimensional stability and resistance to corrosion, although the price of MMC
composites is very high [4]. One of the areas where MMC materials can be applied is gear
transmissions [5].
1 MSc, Slobodan Gari, Faculty of Engineering University of Kragujevac, Serbia, sgaric@kg.ac.rs (CA)
2 PhD, Lozica Ivanovi, Faculty of Engineering University of Kragujevac, Serbia, lozica@kg.ac.rs
3 PhD, Blaa Stojanovi, Faculty of Engineering University of Kragujevac, Serbia, blaza@kg.ac.rs
4 MSc, Slavica Miladinovi, Faculty of Engineering University of Kragujevac, Serbia, slavicam@kg.ac.rs
5 MSc, Vladimir Milovanovi, Faculty of Engineering University of Kragujevac, Serbia, vladicka@kg.ac.rs
147
Slobodan Gari, Lozica Ivanovi, Blaa Stojanovi, Vladimir Milovanovi
Al-SiC composite, as well as other composite, they can be produced by powder

metallurgy or by casting with constant mixing and as such, provides improved hardness and
tensile strength with a much lighter weight [6-8]. For reinforcement are commonly used
carbides, borides, nitrides, oxides and Al2O3, SiC, TiC, TiO2, B4C, TiB2 [9-11]. For the Al-SiC,
as well as for other composite materials, it is necessary to add a bonding agent such as fly
ash, in order to increase the bonding of the particles for molten aluminum alloy. In this paper,
the focus is on numerical analysis of metal gear to investigate its replacement with gear
made from composite material. Purpose is to reduce its weight and increase machine
efficiency [12]. Similar procedures were carried out in [13-19].
2 DESIGN OF GEARS
Construction of gears is a combination of science and design. There are various
methods for constructing the gear [20-22]. Lewis - formula and Hertz - equation are applied
because of various influencing factors. In this study was carried out test on contact gear
stress, to determine relation of stress deformation characteristics [18, 23]. Basic dimension
needed for the design of gear through the above-mentioned formulas are shown in Table 1.
Table 1. Input parameters for design of gear

Parameters Value
Input strength, P 10 kW
Input speed, n1 1440 min-1
Module, m 2.5 mm
Gear ratio, i 3.1
Gear width, b 30 mm
No. of drive gear pinion, z1 20
Based on Table 1 value, there were performed their entry into the Autodesk
Inventor module. There was conducted testing of gear meshing and checking whether the
gears meet the given input parameters. After that testing, gear model goes into the module
for structural analysis where the load and appropriate restrictions were put in order to see the
results of the Von Misses stress and deformation.
3 FINITE MODELING OF SPUR GEAR

Modeling of gears is made in the software program CATIA v5, and then the model is
imported into the module for structural analysis in Autodesk Inventor software. The condition
for analysis has been assumed as static. For finite element analysis (FEA) of the obtained
composite gears, module of elasticity and Poisson's ratio were taken from the corresponding
literature [23-29]. Table 2 shows the characteristics of the materials used in the study.
Table 2. Mechanical properties of materials

Young module, Poisson's ratio, Yield strength, Tensile strength,
Material Density,
E Re Rm
Steel 207 GPa 0.3 7.85 g/cm 207 MPa 345 MPa
Nylon 225 GPa 0.35 1.13 g/cm 82 MPa 82 MPa
CFRP 132 GPa 0.39 1.43 g/cm 300 MPa 577 MPa
Al, SiC 15 % 150 GPa 0.3 2.79 g/cm 90 MPa 151 MPa
Al, SiC 16%, CNT 1% 93 GPa 0.3 2.79 g/cm 150 MPa 202 MPa
Al, Al2O3 0.5%, TiB2 0.5% 138 GPa 0.3 2.76 g/cm 257 MPa 294 MPa
Al, Al3Ti 2.5%, MgO 3% 85 GPa 0.3 2.76 g/cm 158 MPa 252 MPa
Al, Al2O3 10% 96.2 GPa 0.3 2.76 g/cm 187 MPa 280 MPa
Al, SiC 10% 81.2 GPa 0.3 2.79 g/cm 198 MPa 298 MPa
Al-SiC 10%, graphite 1% 81.6 GPa 0.3 2.76 g/cm 170 MPa 255 MPa
148
Numerical analysis of aluminum composite cylindrical gears
In this case, was performed the comparison of Von Misses stresses and
deformations between gears made of steel, nylon, CFRP and gears made of hybrid compo-
site with aluminum matrix. Structural analysis is carried out under a load of 150 N, 300 N,
450 N, 600 N, and 750 N. The forces were posted at tangent side edges of teeth simulating
the load that would occur if the gear is engaged with the other gear. Based on this condition,
there was obtained the value of Von Misses stress and deformation of gears.
Figure 1. The gears with a mesh under appropriate load (a) and the appearance of
fragmented mesh on the required parts (b)
Figure 1 show the layout of the mesh on the gear and the place where the mesh is
fragmented. Mesh consists of 27414 elements and 42254 nodes. The mesh is fragmented
around the place of acting force and on the place where the gear is connected to the shaft
through wedge. It was set under the assumption that on these places will be the biggest
stress values.
Figure 2. Von Mises stress (a) and deformation of gear under load (b)
According to Figure 2 (a), it can be concluded that the value of maximum stress
appear at the site of tooth root and the point where gear join with shaft. Figure 2 (b) shows
the deformations of gear. Lowest deformation is on the place where gear connect with shaft,
and the greatest is on the place where second gear act on the surface of first gear. Figure 3
shows the layout of the stress state at the root of tooth, and also the point where the gear
connect with shaft with wedge.
Figure 3. Von Misses stress in the root of gear toot (a) and on a place where gear connect
with shaft (b)
149
Table 3 show the obtained values of Von Misses stress and deformations of gears
made from various material.
Table 3. Value of Von Misses stress and deformation of gear by various materials
Load (N)
Material
150 N 300 N 450 N 600 N 750 N
Stress (MPa) 33.83 67.67 101.5 135.3 169.2
Steel
deformation (mm) 0.01041 0.02082 0.03124 0.04165 0.05206
Stress (MPa) 32.33 64.66 96.99 129.3 161.6
Nylon
deformation (mm) 0.7318 1.464 2.195 2.927 3.659
stress (MPa) 30.92 61.85 92.77 123.7 154.6
CFRP
deformation (mm) 0.01577 0.03153 0.0473 0.06306 0.07883
stress (MPa) 33.83 67.67 101.5 135.3 169.2
Al, SiC 15%
deformation (mm) 0.01458 0.02915 0.04373 0.05831 0.07289
Al, Al2O3 0,5 %, stress (MPa) 33.83 67.67 101.5 135.3 169.2
TiB2 0.5% deformation (mm) 0.01573 0.03146 0.04716 0.06292 0.07866
Al, Al3Ti 2.5%, MgO stress (MPa) 33.83 67.67 101.5 135.3 169.2
2.5% deformation (mm) 0.02572 0.05145 0.07717 0.1029 0.1286
Al, SiC 16%, stress (MPa) 33.83 67.67 101.5 135.3 169.2
CNT 1% deformation (mm) 0.02351 0.04702 0.07054 0.09405 0.1176
stress (MPa) 33.83 67.67 101.5 135.3 169.2
Al, Al23 10%
deformation (mm) 0.02273 0.04546 0.06819 0.09092 0.1136
stress (MPa) 33.83 67.67 101.5 135.3 169.2
Al, SiC 10%
deformation (mm) 0.02693 0.05386 0.08079 0.1077 0.1346
Al, SiC 10%, stress (MPa) 33.83 67.67 101.5 135.3 169.2
graphite 1% deformation (mm) 0.0268 0.05359 0.08039 0.1072 0.134
After the obtained values of Von Misses stress of gears, it can be said that all other
materials of which is gear made except nylon and CFRP have the same stress value with
same load because it is a linear structural analysis. Within this analysis, on the value of
stress affect force, area and the Poisson's ratio. Nylon and CFRP for the same load of gears
have different stress values for various values of Poisson's ratio. In Figure 4 are graphically
displayed Von Misses stress deviations between these materials at different loads.
Figure 4. Gear stress dependence from the value of load and type of materials
In this analysis, materials of gear are examines in the area of elasticity, so it is

necessary to compare the obtained values of stress for load of 150 N to 750 N with the
values of yield strength of given material. By comparing these values, there can be obtained
maximum force for given materials at a time when the material moves from the elasticity to
plastic area. Table 4 shows the values of deformation under maximum gear load. These
values were obtained at yield stress of material or at a stress when the material passes from
elastic to plastic deformation.
150
Table 4. Value of max Load and deformation of gears on yield strength of materials
Material Yield strength, Re Load, F Deformation
Steel 207 MPa 930 N 0.06386 mm
Nylon 82 MPa 385 N 1.878 mm
CFRP 300 MPa 1450 N 0.1524 mm
Al, SiC 15% 90 MPa 400 N 0.03887 mm
Al, SiC 16%, CNT 1% 150 MPa 665 N 0.06463 mm
Al, Al2O3, TiB2 0.5% 257 MPa 1140 N 0.1196 mm
Al, Al3Ti 2.5%, MgO 2.5% 158 MPa 703 N 0.12 mm
Al, Al2O3 10% 187 MPa 830 N 0.1258 mm
Al, SiC 10% 198 MPa 880 N 0.155 mm
Al, SiC 10%, graphite 1% 170 MPa 752 N 0.138 mm
Based on the results in Table 4 it can be concluded that because of different yield
stress, come up with different values of maximum load gear. In Table 3, the gear is subjected
to a load up to 750 N, but the results in Table 4 show that gear made from some materials
have much smaller allowed force. Figure 5 shows the results of the maximum gear load.
Figure 5. Maximum gear load on yield strength of materials

Based on Figure 5 and results in Table 4 it can be concluded that the gear made of
CFRP can withstand maximum load of 1450 N, because this material has the highest value
of the yield strength. Besides him also Al, Al2O3, TiB2 0.5% showed good characteristics
because they can withstand a load of 1140 N. The weakest of all tested materials as nylon
and AlSiC that could withstand only load of 385 N and 400 N. Minimum deformation of all the
gear has a steel gear and after it gear made of AlSiC and Al, SiC 16%, CNT 1%. Gears build
from these materials have two to three times less maximum load than the gear made of
CFRP, which has a slightly lower deformation than steel. Figure 6 shows the schema of gear
deformations due to all loads. All values of gear deformations were observed in the zone of
material elasticity.
Figure 6. Gear deformation due to all loads
151
Results of deformations of Figure 6 shows that the gear made from alloy AlSiC with
15% content of SiC has the least deformation and that have a maximum load of 400 N, and it
can be used as a substitute only for small loads. Unlike him, gear made from CFRP has a
slightly larger deformation than the gear of the AlSiC but generally has the best ratio of max
load and deformation. Most of the materials from which gear can be made have approximate
results of deformation at the same given load. The results of gear deformation show that all
materials except nylon meet the necessary requirements for making gear of them. In table 5
are given the value of the gear mass of the same geometrical parameters made from various
materials.
Table 5. Gear mass from various materials
Al,
Al,Al2O3, Al, Al, Al, Al,
Al, SiC SiC 10%,
Material Steel Nylon CFRP TiB2 Al3Ti 2.5%, SiC 16%, Al2O3 SiC
15% graphite
0.5% MgO 2.5% CNT 1% 10% 10%
1%
Mass (kg) 0.38 0.05 0.07 0.13 0.13 0.13 0.13 0.13 0.13 0.13
Based on the value of weight in Table 5 it can be concluded that the gear made of
nylon and CFRP has a 7 and 5 times less weight compared to steel gear. Mass of composite
gear with aluminum matrix 3 times is less compared to the gear of steel. Based on these
values it can be said that the composite gears are considerably lighter than steel gears.
4 CONCLUSION
This paper studies the results of stresses and deformations in testing gear made
from different materials. The aim of the research is to investigate the possible composite
materials that could replace steel as a material for gears. The main objective of the study is
that the results generate a new composite gear less weight, and his mechanical properties,
stress and deformation remain within acceptable limits. After the FEA analysis of gear model,
there was performed comparing the gear value of Von Misses stresses and deformations
made from steel and composite materials. Gear materials which were used for comparison is
nylon 6/6, CFRP and hybrid composites aluminum based with nanoparticle of SiC, Al2O3,
TiB2, MgO, CNT. On the model of gear was performed static load under different influences
of forces in the range to 150 - 750 N. Result of the analysis led to the following conclusions:
Gear made from composite materials with aluminium matrix have similar
deformation like steel gear,
As the best substitute for steel gear has proven gear from CFRP,
Composite gear has a 3 to 7 time less mass then steel gear,
Composite gears can withstand a higher load than steel,
Gear made from CFRP have the least value of Von Misses stresses in
comparison to gears from other materials,
Based on these results it can be concluded that the composite materials in large
numbers of characteristics overcome steel, and in the future expect a lot more applications
not only in gears, but also in other elements of mechanical structures.
ACKNOWLEDGMENT
This paper presents the research results obtained within the framework of the projects
TR-35021 and TR-35033 financially supported by the Ministry of Education, Science and
152
NOMENCLATURE
Variables:
b gear width, mm
E Young module, GPa
F load, N
i gear ratio, -
m module, mm
n1 input speed, min-1
P input strength, kW
Re Yield strength, MPa
Rm Tensile strength, MPa
z1 number of drive gear pinion, -
Greek symbols
Poisson's ratio
density, g/cm3
REFERENCES
[1] Chawathe, D.D. (2011). Handbook of Gear Technology, New Age International
Publication, p.p. 26 -89, p.p. 305-536, p.p. 579-706.
[2] Chabra, P., Bhatia, A. (2012). Design and Analysis of Composite Material Gear Box,
International Journal of Mechanical and Civil Engineering, vol. 1, no. 1, p.p. 15-25.
[3] Devi, N., Mahesh, V., Selvaraj N. (2011). Mechanical characterization of Aluminium
silicon carbide composite, International Journal of Applied Engineering Research, vol. 1,
no. 4, p.p.126-131.
[4] Hashim, J., Looney, L., Hashmi, M.S.J. (1999). Metal Matrix Composites: Production by
the Stir Casting Method, Journal of Material Processing and Technology, p.p. 17.
[5] Gulaxea, P., Awate, N.P. (2013). Design, Modelling & Analysis of Gear Box for Material
Handling Trolley: A Review, Mechanica Confab, vol. 2, no. 1, p.p. 63-70.
[6] Siva, P., Syed, A. H., Pandurangadu V., Kumar K.P. (2012). Modelling and Analysis of
Spur Gear for Sugarcane Juice Machine under Static Load Condition by Using FEA,
International Journal of Modern Engineering Research, vol. 2, no. 4, p.p. 2862-2866.
[7] Wang, H., Zhnag R., Xing H., Chang W., Yong H. (2008). Characterization of a powder
metallurgy SiC/CuAl composite, Journal of materials processing technology, p.p.4348.
[8] Yusof, A., Abdul, R. D., Roslinda, S., Mohd, b. H. (2009). Flexural Strength And Fracture
Studies Of Al-Si/SiC Composites, International Journal of Mechanical and Materials
Engineering (IJMME), vol. 4, no. 2, p.p. 109-11.
[9] Stojanovi, B., Babi, M., Mitrovi S., Vencl A., Miloradovi N., Panti M. (2013).
Tribological characteristics of aluminium hybrid composites reinforced with silicon
carbide and graphite. A review, J Balk Tribol Assoc, vol 19, no. 1, p.p. 83-96.
[10] Babi, M., Stojanovi, B., Mitrovi, S., Bobi, I., Miloradovi, N., Panti, M., Duni, D.
(2013). Wear Properties of A356/10SiC/1Gr Hybrid Composites in Lubricated Sliding
Conditions, Tribology in Industry, vol. 35, no. 2, p.p. 148154.
[11] Shari, E.M. Karimzadeh, F. (2011). Wear behavior of aluminum matrix hybrid nano-
composites fabricated by powder metallurgy, Wear, vol. 271, no.7-8, p.p. 1072-1079.
[12] PSG Design Data Book, PSG College of Technology Coimbatore, (1966). p.p. 8.1-8.64.
[13] Purohit, R., Rana, R. S., Verma, C. S. (2012). Fabrication of Al-Sic composites through
powder metallurgy process and testing of properties, International Journal of Engineering
Research and Applications (IJERA), vol. 2, no. 3, p.p. 420-437.
[14] Singla, M., Singh, L. H., Chawla, V. (2009). Study of Wear Properties of Al-SiC
Composites, Journal of Minerals & Materials Characterization & Engineering, vol. 8,
no.10, p.p. 813-819.
153
[15] Bhandari, V.,B. (2013). Design of Machine Elements, 3rd Edition, Tata McGraw Hill
Publication, p.p. 646-690.
[16] Pawar, P.B., Abhay, A. U. (2013). Development of Aluminium Based Silicon Carbide
Particulate Metal Matrix Composite for Spur Gear, 3rd International Conference on
Materials Processing and Characterisation, vol. 6, p.p. 1150-1156.
[17] Senthilvelan, S., Gnanamoorthy, R. (2007). E ect of rotational speed on the
performance of unreinforced and glass ber reinforced Nylon 6 spur gears, Materials &
Design, vol. 28, no. 3, p.p. 765772.
[18] Senthilvelan, S., Gnanamoorthy, R. (2006). Fiber Reinforcement in Injection Molded
Nylon 6/6 Spur Gears, Applied Composite Materials, vol. 13, no. 4, p.p. 237248.
[19] Handschuh, R. F., Roberts, G. D., Sinnamon, R. R., Stringer D. B., Dykas B. D.,
Kohlman, L. W. (2012). Hybrid Gear Preliminary Results Application of Composites
to dynamic Mechanical Components, NASA/TM, p.p. 1-11.
[20] Keerthl, M., Sandya, K., Srinivas, K. (2016). Static & Dynamic Analysis of Spur Gear
using Different Materials, International Research Journal of Engineering and
Technology, vol. 3, no. 1, p.p. 694699.
[21] Prasad, V. S., Hussain, S. A., Pandurangadu, V., Kumar, K.P. (2012). Modeling and
Analysis of Spur Gear for Sugarcane Juice Machine under Static Load Condition by
Using FEA, vol. 2, no. 4, p.p. 2862-2866.
[22] Jong, B. O., Xin W., Ching, S. T., Jee, H. H., Ying ,P. L., (2011). Modal and stress
analysis of gear train design in portal axle using finite element modeling and simulation,
Journal of Mechanical Science and Technology, vol. 26, no. 2, p.p. 575-589.
[23] Pawara, P.B., Abhay, A. U. (2015). Analysis of Composite Material Spur Gear under
Static Loading Condition, Materials Today: Proceedings, vol. 2, no. 45, p.p. 2968-2974.
[24] Gubran, H.B.H. (2005). Dynamics of hybrid shafts, Mechanics Research
Communications, vol. 32, no. 4, p.p. 368-374.
[25] Vigithra, R. (2015). Design and analysis of nano composite spur gear, Journal of
Engineering and Applied Sciences, vol. 10, no. 11, p.p. 5022-5027.
[26] Shisheng, L., Yishi S., Qiubao O., Di Z. (2016). In-situ carbon nanotube-covered silicon
carbide particle reinforced aluminum matrix composites fabricated by powder metallurgy,
Materials Letters, vol. 167, p.p. 118-121.
[27] Eskandaria, H., Taheri R. (2015). A Novel Technique for Development of Aluminum Alloy
Matrix/TiB2/Al2O3 Hybrid Surface Nanocomposite by Friction Stir Processing, Procedia
Materials Science, vol. 11, p.p. 503-508.
[28] Zangabad, P. S., Khodabakhshi, F., Simchi, A., Kokabi, A.H. (2016). Fatigue fracture of
friction-stir processed AlAl3TiMgO hybrid nanocomposites, International Journal of
Fatigue, vol. 87, p.p. 266-278.
[29] Vencl, A., Bobic, I., Arostegui, S., Bobic, B., Marinkovic, A. Babic, M. (2010). Structural,
mechanical and tribological properties of A356 aluminium alloy reinforced with Al 2O3, SiC
and SiC + graphite particles, Journal of Alloys and Compounds, vol. 506, p.p. 631639.
154
_____________________________________________________________________________
OPTIMIZATION OF VENTILATED DISC BRAKE VANES FOR HEAVY

DUTY VEHICLE
Nadica Stojanovi1, Jasna Gliovi2, Nenad Marjanovi3, Ivan Gruji4
Abstract: The important task for automotive engineering researchers today is to design
such brake system that under all operating conditions (emergency braking, mild short-
term braking and mild long-term downhill braking) has stable performances. Today, all
the highest performance car manufacturers have ventilated disc brakes all around for
the shortest stopping distances. However, air disc brakes for heavy duty vehicles are
not far behind them. The study of the influence of the dimension of vanes to the mass
of ventilated disc and deformation that occurs in the braking process is performed in
this paper. Optimization process is performed in ANSYS software, by using Screening
method. Application of virtual experiments during the early stage of product
development provides money saving during manufacturing. Also it is possible to make
a modification of the product and certainly produce such a product which will enable
the manufacturer a secure market position.
Key words: heavy duty vehicles, optimization, ventilated disc brakes
1 INTRODUCTION
Optimization techniques have the task of finding the "best" solution of the
specific, mathematically defined problem. Determining the best solution or solutions
close to the best leads to savings in materials and energy (whose resources are
limited) or achieving the financial profit, the highest reliability or safety in operation, etc.
Optimization approach tends to minimize the negative effects (effort, cost, etc.) or
maximizing the positive effects (profit) [1].
Disc brakes are a typical example of axial brakes, where the pressure acting on
the friction surface is realized in the direction of the rotational members axis. In this
solution the disc is attached to a wheel of the vehicle, while a caliper is attached to the
supporting structure of a vehicle [2].
Disc brake and brake pads have the basic task to slow down or stop the
1 MSc Nadica Stojanovic, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,

nadica.stojanovic@kg.ac.rs (CA)
2 PhD Jasna Gliovi, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia, jaca@kg.ac.rs
3 PhD Nenad Marjanovi, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
nesam@kg.ac.rs
4 MSc Ivan Gruji, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia, ivan.grujic@kg.ac.rs
155
Nadica Stojanovi, Jasna Gliovi, Nenad Marjanovi, Ivan Gruji
vehicle. Disc brakes are increasingly used on very large and heavy duty vehicles,
where previously large drum brakes were nearly universal. When compared to drum
brakes, air disc brakes have a number of advantages, including:
No exaggeration of friction coefficient differences: This results in improved
side-to-side consistency between left and right brakes.
Reduced fade: Consistent contact between the friction surfaces remains,
even with brake disc warm-up and radial expansion.
High thermal load: Heat dissipation is efficient for internally vented brake
discs. As such, it is possible to maintain high braking performance, even in
demanding conditions.
Minimal and consistent hysteresis: This is due to the high efficiency of the
actuating mechanism.
Servicing ease when changing brake pads: When compared to drum
brakes, disc brakes require only a fraction of the service time.
For these reasons, a heavy truck with disc brakes can stop in about 120% the
distance of a passenger car, but with drums stopping takes about 150% the distance.
In Europe, stopping distance regulations essentially require disc brakes for heavy
vehicles. In the U.S., drums are allowed and are typically preferred for their lower
purchase price, despite higher total lifetime cost and more frequent service intervals.
Today, the most of road passenger and heavy duty vehicles are equipped with
ventilated disc brakes. The reason lies in the fact that with this solution heat dissipation
into the environment is quickly, in contrast to the solid discs. This is the determinant
fact why the solid discs are not used in heavy trucks [3]. Domestic and international
safety norms for commercial vehicles are getting stringent and regulation compliance is
very important for every customer. In the harsh conditions of market competition,
Pajload advantage plays a crucial role in the customer demand list, in addition to
maintenance costs. Finally, if product has less complexity (reducing no. of parts), then
this will provide financial benefit for each organization.
Belhocine [4] has showed deformation of the brake disc and brake pads in the
braking process. The paper noted that the maximum deformation has occurred at the
periphery of the disc. Optimization is carried out for several reasons, but primarily
depends on our expectations. It can be done in order to reduce weight, deformation or
tendency of noise generation. During the design phase of the brake system, the
corrective and re-design can be applied in order to improve the individual components
[5, 6]. This process is called optimization.
Other than optimization of structural parameters, it is possible to optimize the
properties of the materials. Vijay and etc. [7] are optimized the properties of the non-
asbestos material of brake pads.
The objective of this paper is to show the impact that changes in the size of the
vans of ventilated brake disc has on the deformation of the disc, and therefore the
mass of the disc. Respectively the main purpose of this paper is to find the minimal
deformation, and in addition the smallest possible weight of the brake disc. The vane
design usually provides a more stiff structure and better cooling performance while the
pin design usually is preferred in sound point of views.
2 MODELING OF DISC BRAKE SYSTEMS FOR HEAVY DUTY VEHICLE

Brake disc and brake pads were modeling in the software package ANSYS.
Figure 1 shows the ventilated disc brake with vanes. This software is a very complex
tool for modeling in contrast to other commercial CAD software whose main function is
to design the parts. The reason for the modeling in this particular software is to
156
Optimization of ventilated disc brake vanes for heavy duty vehicle
generate parameters that will later be optimized. Completely new ventilated disc is
analyzed. The diameter of the disc is 430 mm, the height is 131 mm and thickness is
45 mm [8]. Also, Figure 1 shows detail of the brake disc vans, where nominal
diameters of ribs are a, b and c.
Figure 1. Ventilated disc brake and brake pads
The disc brake is an assembly that includes not only the brake disc and brake
pads, as shown in Figure 1. It is very complicated and it consists of many parts (Figure
2). However, other elements don't have great influence in this analysis and therefore
they will not be considered.
Figure 2. Air disc brake for heavy duty vehicles
Material properties of the brake disc and brake pads are shown in Table 1.
Material used for making brake disc is steel, while the brake pad material is non-
asbestos friction material.
Table 1. Material properties of the brake disc and brake pads [4]
Density (kgm-3) Young's modulus (GPa) Poison ratio (-)
Disc 7250 138 0.28
Pads 1400 1 0.25
157
Addition to defining material properties, it is necessary to define the size and

the type of finite elements. 3D solid tetrahedral shaped elements are used in meshing
(a discrete representation of the geometry that is involved in the problem). The mesh
consists of 39067nodes and 19428 elements.
2.1 Boundary conditions

At the start of the analysis it is necessary to define the boundary conditions.
The boundary conditions are defined in the Static Structural module, Figure 3.
Environmental condition during vehicle operation mode is an ambient temperature of
22C. The vehicle initial velocity is 80 km/h and braking is performed until the vehicle is
stopped. Respectively, angular velocity of the disc is 41.89 rad/s
Figure 3. Boundary conditions and pressure on the disc-pads friction pair
Braking process is directly influenced by the value of the coefficient of friction,

which is present in the contact pair, between the brake disc and the brake pads.
Friction coefficient between the disc and pads is set to 0.336 [9].
2.2 Optimization
To achieve better design, it is often necessary to compromise between the
many different objectives. The most important task is to collect enough information
about the current design, so that we can answer the often asked question "what if".
Response Surface Optimization is the module of the simulation software ANSYS used
for the optimization of disc brake model. It represents the ratio between the variable
parameters of the construction and performance, respectively stresses, deformation
obtained in a virtual experiment [10]. Applied optimization method is the screening
method.
Screening method can be used to optimize the surfaces and a direct
optimization of parameters. Generates a large collection of samples from the response
surfaces and sort its samples based on objectives and weighting.
The screening method is the only method that does not require at least one
objective. In case of using other optimization methods, we should have only one
objective, which clearly defines what we expect as an output of the monitored
parameter. The screening method is usually the most appropriate for the
implementation of preliminary research because it provides quick solutions that may be
useful in finding solutions. As this method does not depend on the objective function, it
is possible, at the end of analysis, to extract the one solution from obtained results that
158
meets our expectations. The possibility of applying this method is that we can observe
discrete values of the parameter in such a way that we will define specific values for
each parameter. Parameters defined in such manner are included in the optimization
analysis, where the program first makes combinations of discrete values of parameters
[11]. The values of the input parameters are shown in Table 2. To complete the
optimization, it is necessary to define the objective. In our case, the basic objective of
optimization is to get the minimum deformation and minimum weight.
Table 2. The values of the input parameters

Diameter of the inner Diameter of the Diameter of the outer Number of vanes (-)
roller (mm) central roller (mm) roller (mm)
15 18 20 21
16 19 21 22
17 20 22 23
18 21 23 24
19 22 24 25
20 23 25 26
2.3 Discussion of results

Maximum deformation of the disc is 0.0043023 mm, and the weight is 23.523
kg. This applies to the initial model of the disc (Figure 4), where diameter of all vanes is
20 mm, and the number of vanes is 26.
Figure 4. The total deformation of ventilated disc
The goal of the optimization is to get less deformation than for initial model.
Deformations of optimized disc are generally less than those obtained for the initial
model. Also, our goal is to get a smaller mass compare to the initial model. In the case
of the optimization of the mass of the disk, the result obtained is different from the case
of deformation of the disc. The values of the mass of the disc are greater or less than
the observed mass, Figure 5.
159
Figure 5. The mass of the disc depending on the combination of parameters
The diagram in Figure 5 represents the mass of the disc depending on the
combination of discs parameters. Ordinate represents the value of the mass, while
abscissa represents the number of the combinations of parameters. The number of
combinations is the 1296. Each number has its own combination of input parameters,
which are shown in Table 2.
After the analysis is performed, the program shows the best rated candidates.
The best ranked candidate is in fact a combination of parameters that meet the
objective function. In our case the program offers two best ranked candidates (Figure
6). The values of the best ranked candidates are shown in Table 3. It can be said that
both candidates meet the goal.
Figure 6. The best ranking parameters
160
Table 3. The values of the parameters of the best ranked candidates

Diameter of the Diameter of the Diameter of the Number of Disc Disc
inner roller central roller outer roller vanes (-) mass deformation
(mm) (mm) (mm) (kg) (mm)
15 18 23 26 23.189 0.0030512
15 18 25 25 23.415 0.0029061
3 CONCLUSION
The parametric optimization of existing brake discs is an integral part of the
brake system design procedure as many of the parameters defining the brakes
geometry and performance are often dictated by packaging constraints (the wheel
diameter and offset influence the rotor diameter and caliper size respectively).
Therefore, it is imperative to look for the highest performance within the system
constraints.
It is very important that the brake disk has the lowest possible mass. This has
direct influence on the braking distance. Inertial masses have the great influence on
the braking distance for each vehicle, whether passenger or commercial. The greater
the mass of these parts, you need a longer time to stop such vehicle. Regarding safety
of road users, a shorter braking distance is the basic requirement. This is possible by
reducing the weight of brake disc which was one of the goals of this paper, as well as
its deformation.
ACKNOWLEDGMENT
This paper was realized within the researching project The research of vehicle
safety as part of a cybernetic system: Driver-Vehicle-Environment ref. no. 35041,
funded by Ministry of Education, Science and Technological Development of the
Republic of Serbia.
NOMENCLATURE
a diameter of the inner roller, mm
b diameter of the central roller, mm
c diameter of the outer roller, mm
REFERENCES
[1] Marjanovi, N. (2014). Matematika optimizacija tehnikih sistema, Fakultet
inenjerskih nauka, Kragujevac, 530577-TEMPUS-1-2012-1-RS-TEMPUS-JPCR.
[2] Todorovi, J. (1988). Koenje motornih vozila: projektovanje, odravanje,
ispitivanje, Zavod za udbenike i nastavna sredstva, Beograd.
[3] Bendix Spicer Foundation Brake LLC, http://www.foundationbrakes.com/media/
documents/airdiscbrakes/awhitepapercaseforairdiscbrakes.pdf, accessed
9.10.2016
[4] Belhocine, A. (2015). Numerical investigation of a three-dimensional disc-pad
model with and without thermal effects, Thermal science, vol. 19, no. 6, p.p. 2195-
2204.
[5] Nouby, M., Mathivanan, D., Srinivasan, K. (2009). A combined approach of
complex eigenvalue analysis and design of experiments (DOE) to study disc brake
161
squeal, International Journal of Engineering, Science and Technology, vol. 1, no.

1, p.p. 254-271.
[6] Cao, Q., Friswell, M. I., Ouyang, H., Mottershead, J. E., James, S. (2003). Car disc
brake squeal: theoretical and experimental study. Proc. 5th Int Conf on Modern
Practice in Stress and Vibration Analysis, Ed. Cartmell, M. P. Trans Tech
Publications, p.p. 269-276.
[7] Vijay, R., Jees Janesh, M., Saibalaji, M.A., Thiyagarajn, V. (2013). Optimization of
tribological properties of nonasbestos brake pad material by using steel wool.
Hindawi Publishing Corporation.
[8] UAB ECOBALTIC, http://www.ecobaltic.lt/files/stabdziu_dalys/nca104720.pdf,
accessed 9.10.2016
[9] Gliovi, J. (2012). Teorijska i eksperimentalna istraivanja visokofrekvetne buke
disk konica, Doktorska disertacija, Fakultet inenjerskih nauka, Kragujevac.
[10] Ansys Inc (2013). Design Exploration Users Guide, U.S.A.
[11] Sharcnet, https://www.sharcnet.ca/Software/Ansys/16.2.3/en-us/help/wb_dx/dx_
optimization_options.html, accessed 2.10.2016
162
_____________________________________________________________________________
OPTIMIZATION OF THE CONNECTING ROD LENGTH

Ivan Gruji1, Nadica Stojanovi2, Aleksandar Davini3, Radivoje Pei4,
Danijela Miloradovi5
Abstract: Internal combustion engine is an irreplaceable power unit for vehicles today.
In order to design new and improve the existing engines, it is necessary to perform
certain calculations. It has been proven that the length of the connecting rod
significantly impacts the engine dimensions, as well as the forces that occur in the
piston mechanism. In the framework of this study, possibility to reduce the length of the
connecting rod, thus reducing weight and dimensions of entire engine, while not
increasing deformations and stresses that have influence on the piston mechanism,
was analysed in the paper. The basic tool for optimization of the connecting rod was
ANSYS software. Application of this software and similar allows rapid production of
parts, which enables the producer to be competitive on the market. In addition, it
requires less input energy and money, which enables the producers to obtain higher
profit.
Key words: ANSYS, connecting rod length, dimensions, optimization, IC engine.
1 INTRODUCTION
For today vehicles, IC engine is still irreplaceable power unit. Constant demand
for development of new and better vehicles, also requires the development of new or
improvement of existing engines. One more challenge for IC engines are regulations
that require low emission [1]. It is known that reduction of harmful products from
combustion process, requires the implementation of new systems for fuel supply,
ignition and for exhaust gasses after treatment. Implementation of the increasing
number of items of engine equipment requires space. Also, there is a tendency that
implementation of new equipment does not have effect on increase of vehicle mass.
1
MSc Ivan Gruji, assist., University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
ivan.grujic@kg.ac.rs (CA)
2
MSc Nadica Stojanovi, assist., University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
nadica.stojanovic@kg.ac.rs
3
PhD Aleksandar Davini, assist. prof., University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
davinic@kg.ac.rs
4
PhD Radivoje Pei, prof., University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
pesicr@kg.ac.rs
5
PhD Danijela Miloradovi, assist. prof., University of Kragujevac, Faculty of Engineering, Kragujevac,
Serbia, neja@kg.ac.rs
163
Ivan Gruji, Nadica Stojanovi, Aleksandar. Davini, Radivoje Pei, Danijela Miloradovi
Higher mass means more fuel consumption and that is an undesirable phenomenon.
One of the best ways to reduce vehicle mass, is to reduce engine mass. This can be
achieved by using the new materials for IC engines or reducing its dimensions.
Connecting rod is one of the basic elements that have influence on engine dimensions,
so the idea to optimize the connection rod length is presented in the paper.
2 LITERATURE REVIEW
There are not many papers in this field that have dealt with the same issue.
Nevertheless, there are papers dealing with similar subjects that are directly related to
IC engine dynamics. Figure 1 shows a piston crank mechanism and it will be used for
better explanation of the used methodology.
Figure 1. Piston crank mechanism [2]
In reference [2], the impact of the length of the connecting rod on the radial
force in the crank-piston mechanism was researched. The radial force is one of the
components to which the connecting rod force is decomposed. It is proved that, with
decreasing the connecting rod length, connecting rod force and radial force are
decreasing. Reference [3] has studied the impact of dynamic load on connecting rod,
for purpose to determine how much material can be removed from the connecting rods
in order to obtain the reduction of connecting rod mass. The purpose of the paper [4] is
the implementation of new materials in order to reduce the manufacturing costs.
Based on previously mentioned references, an idea to perform optimization of
the connecting rod length was born, provided that no increase in deformation under the
influence of forces occurs at the maximum length. It is taken into account that the
minimum length of the connecting rod must be higher than the piston stroke. In this
way, engine with smaller dimensions can be designed.
164
Optimization of the connecting rod length
3 3D MODEL
A 3D model needed for optimization was made in ANSYS software package.
Main feature of this software is not modelling, but it was necessary in case of
optimization. Geometrical parameters of connecting rod are selected from the existing
engine. Model of the connecting rod is shown in Figure 2. Specifications of the engine
are given in Table 1.
Figure 2. 3D model of the connecting rod
Table 1. Engine specifications

Connecting rod length, l 0.229 m
Crank radius, r 0.063 m
Offset, ev 0m
Offset, eo 0m
Piston diameter 0.0914 m
Number of cylinders 3
Boundary conditions (Figure 3) are dictated by the fixed support of the bottom
of the connecting rod and the connecting rod force.
165
Figure 3. Boundary conditions
Connecting rod force is not constant during working cycle of the engine, and,
as such, it was implemented in the software. The connecting rod force was calculated
using Matlab software package. This force is presented in Figure 4.
Figure 4. Connecting rod force
Maximum value of the force is 46820 N.
166
Optimization of the connecting rod length

Based on previously mentioned boundary conditions, the results of total
deformation are obtained. Deformations of the connecting rod are shown in Figure 5.
Figure 5. Deformations of the connecting rod
We used tetrahedral mesh as the final element. The mesh consists of 10317
nodes and 5511 elements. The purpose of optimization of the connecting rod is to
minimize the total deformation and mass. Based on the used parameters, software has
provided 3 candidate points (shown in Table 2).
Table 2. Optimization candidate points

Candidate point 1 Candidate point 2 Candidate point 3
Connecting rod length, m 0.206 0.210 0.215
Total deformation
0.00022842 0.0002317 0.00023502
(maximum), m
Connecting rod mass, kg 1.019 1.03 1.041
In the program commands has been given to minimize connecting rod length.
Upper boundary was current value of connecting rod length, and the bottom boundary
was value 5 mm greater than piston stroke. Candidate points from Table 2 are
obtained by the program, as the best values. From Table 2, it can be seen that the best
candidate point for connecting rod length is 0.206 m based on minimum total
167
deformation and mass. In some cases, one of the parameters have better value for
one candidate point and other parameters for different candidate point. In this case, the
result is much better because the smallest mass and deformation is obtained for the
same candidate point.
5 CONCLUSION
Connecting rod is very important part of IC engine. From the analysis, it can be
concluded that smaller length of the connecting rod leads to smaller deformations of
the connecting rod. Mass of the connecting rod is also smaller and it has effect on IC
engine mass. Smaller length of the connecting rod also has direct influence on engine
dimensions. With smaller connecting rod length, the engine will have smaller
dimensions and mass. This is good because, with lighter engine, vehicle will be lighter
and that ha direct influence on fuel consumption.
ACKNOWLEDGMENT
This paper was realized within the researching project The research of vehicle
safety as part of a cybernetic system: Driver-Vehicle-Environment ref. no. 35041,
funded by Ministry of Education, Science and Technological Development of the
Republic of Serbia.
REFERENCES
[1] Pei R., Petkovi S., Veinovi S. (2008). Motorna vozila i motori oprema, Mainski
fakultet u Kragujevcu, Kragujevac.
[2] Dori, J., Mii, M. (2009). IMPACT OF CONNECTING ROD LENGTH ON IC
ENGINE CRANKSHAFT WEAR. Tractors and power machines, vol. 20, no. 3-4,
p.p. 7-14.
[3] Pravardhan, S. S. (2004). Dynamic Load Analysis and Optimization of
Connecting Rod, Master Thesis, College of Engineering, Toledo.
[4] Kuldeep, B., Arun, L. R., Faheem, M. (2013). ANALYSIS AND OPTIMIZATION OF
CONNECTING ROD USING ALFASiC COMPOSITES. International Journal of
Innovative Research in Science, Engineering and Technology. vol. 2, Issue 6, p.p.
2480-2487.
168
_____________________________________________________________________________
POWER LOSSES AND EFFICIENCY OF WORM GEARS

IN EXTREME OPERATING CONDITIONS
ore Miltenovi1, Milan Bani2, Aleksandar Miltenovi3, Milan Tica4
Abstract: Bearing in mind their characteristics, worm gears offer a number of

advantages in comparison to other types of transmission. The aforementioned
advantages are primarily reflected in a compact design, high transmission ratio,
reliability, possibility of vibration damping, in structural advantages regarding energy
junction and summation, etc. They are widely used in too lmachines, transport
equipment, in vehicles, primarily for power transmission, as well as in fine-tuning and
precision devices for movement transmission. A deficiency of worm gears is a
relatively low efficiency. The paper presents a procedure of experimentally ascertaining
the power losses and efficiency of worm gears in extreme operating conditions,
primarily related to high transmission ratio and high rotation frequency.
Key words: worm gears, efficiency, extreme operating conditions
1 INTRODUCTION
These power transmission devices are used for converting and transferring
mechanical energy from a power source to an operating machine. The most frequently
used are gear transmissions, and they account for over 80% of mechanical energy
transmission.
Regarding various types of transmission devices, it is very important to
differentiate between pure-rolling transmission and helical gears transmission. With
helical gears transmission, as an addition to rolling, there is also sliding along flanks,
which results in an additional energy loss and reduced efficiency. Worm gears belong
in the category of helical gears transmission.
A large slip between the flanks of a worm shaft and a worm gear results in a
high local surface pressure, which requires worm pair materials resistant to damage
1ore Miltenovi, College of Professional Technological and Artistic Education in Leskovac, V. Pumana
17, 16000 Leskovac, Serbia, E-mail: milten2004@yahoo.com (CA)
2Milan Bani, University of Ni, Faculty of Mechanical Engineering, Aleksandra Medvedeva 14, 18000 Ni,
Serbia, E-mail: banicmilan@hotmail.com

3Aleksandar Miltenovi, University of Ni, Faculty of Mechanical Engineering, Aleksandra Medvedeva
14,18000 Ni, Serbia, E-mail amiltenovic@yahoo.com

4Milan Tica, University of Banja Luka- Faculty of Mechanical Engineering, Vojvode Stepe Stepanovia 71,
78000 Banja Luka (B&H), E-mail: milan.tica@unibl.rs
169
ore MIltenovi, Milan Bani, Aleksandar Miltenovi, Milan Tica
from scuffing. A possibile solution in this instance would be a combination of soft and
hard worm pair materials. Consequently, in modern designs worm gears are most
frequently made of tin bronze, while worm shafts are made of hardened and ground
steel.
Worm gears offer numerous advanatages in comparison with other
transmission types, which allows them a wide variety of use, both for power and
movement transmission. They are applied to tool machines, transport equipment, in
vehicles, primarily for power transmission, as well as in fine-tuning and precision
devices for movement transmission.
A deficiency of worm gears is a relatively low level of efficiency, especially in
extreme operating conditions, primarily related to high transmission ratio and high
rotation frequency.
2 POWER LOSSES AND EFFICIENCY

A total loss of energy, i.e. of power in worm gears comprises a loss of power
due to slipping impedance of a worm gear in the process of coupling P Gz, the power
loss in bearings PGL, power loss when idle PG, and the power loss in seals PGD, i.e:
PG PGz PGL PGO PGD (1)
The overall efficiency of a worm gear, in the event of an energy generating

worm shaft, is calculated according to the following formula:
P2 P2
(2)
P1 P2 PG
Level of efficiency is influenced by a number of parameters: materials that
worm shafts and worm gears are made of, the lubricant, a type of worm shaft,
operating conditions, transmission ratio, the frequency of rotation.
In order to accurately determine the loss of power in bearings it is practical to
use the SKF bearing calculator [1].
3 ASCERTAINING AN EFFICIENCY BY MEANS OF AN EXPERIMENT
3.1 Transmission Gear Data

For the purposes of the experiment the authors used a worm gear with axial
distance of 30 mm. The axial cross-section of a worm gear has been shown in Figure
2. The worm shaft was positioned under the worm gear. The test transmission was
driven by a 2.5 kW inductive engine. The output torque was transmitted via magnetic
brake which can endure up to 160 Nm torque. The output torque was measured by a
measuring shaft with slip rings. This experimental research on worm gears was
conducted regarding extreme operational conditions with transmission ratio of i = 40
and input speed n1 = 5000 min-1 (Table 1).
170
Power losses and an efficiency of worm gears in extreme operating conditions
Figure 1. Worm pair
Figure 2. Test transmission:1 worm shaft; 2 worm gear; 3 angular contact ball
bearing; 4 thermocouple; 5 worm shaft seal
Table 1. Transmission gear data

Geometrical size Values
Central distance a [mm] 30
Worm gears type ZI- DIN 3975
Transmission ratio 40
Module mx [mm] 1,2608
Number of teeth z1/ z2 1/40
Wheel material CuSn12Ni2-C-GCB
Worm material 16MnCr5
Input speed [min-1] 5000
40 = 1500mm2/s;
Synthetic oil GH6-1500
100 = 232 mm2/s
171
3.2 Efficiency
3.2.1 Overall Efficiency Of A Transmission Gear

An efficiency of a transmission gear is a very important parameter of a
transmission quality. According to the expression (2), a overall efficiency of the
transmission gear can be determined by means of measured output torque values
T2, and input torque values T1, i.e:
P2 T
2 (3)
P1 T1 u
Figure 3 presents one with a diagram of a dependency of a transmission gear
overall efficiency and of the output torque T2, obtained by means of an experiment.
In the course of the research the output torque was changed via magnetic brake within
the limits of the following values T2 = 10 Nm to T2 = 22 Nm. Simultaneously, the
transmission gear input and output torque values were measured, as well as oil and
ambient temperature. The values of a overall efficiency have been determined
according to the expression (3), and they change within the limits of the following
values = 0,52 0,71. A trend of the output torque change flow lines shows that with
an increase in the load a overall transmission gear efficiency increases as well. The
change flow is influenced by a number of factors such as power losses in bearings and
seals, operating temperature, i.e. oil viscosity at operating temperatures, friction and
power losses in the contact zone. Consequently, for the further course of research it
was necessary to accurately determine the power losses in bearings.
Figure 3. Overall efficiency of a transmission gear obtained by means of an experiment

for the input speed n1 = 5000 min-1 and for different values of the output torque T2
3.2.2 Power Losses In Bearings And Seals

A worm shaft bearing installation was performed with two 7302 BEP angular
contact ball bearings, according to the X installation schedule (SKF). A worm shaft
bearing installation was performed with two 6007 2RS1 and 6302 2RS1 (SKF) single
row radial ball bearings.
172
For the purposes of determining power losses in bearings and seals, the
authors primarily determined a worm shaft and worm gear support impedance. Then,
power losses in bearings and seals were determined according to the SKF bearing
calculator, i.e. according to the SKF programmes module intended for determining
power losses in bearings and seals. [1].
50
45
Be ar ing powe r loss [W ]

Bearing A
40
Bearing B
35 Bearing C
30 Bearing D
25
20
15
10
5
0
0 8 16 24 32 40 48
T2 [Nm]
Figure 4. Power losses in transmission gear bearings for the determined operating oil
temperature values
The calculation results of a power loss in bearings for different values of the
output torque T2 are shown in Figure 4. The bearing A of a worm shaft was loaded with
both axial and radial thrust. As a result, power losses at this bearing were the greatest.
A worm gear shaft has significantly smaller number of rpm (n 2 = 125 min-1). Thus, the
power loss in its bearings is significantly lower in comparison to the loss in worm shaft
bearings. With an increase in the load, power losses in bearings increase as well.
Figure 5. A diagram of interdependence between kinematic viscosity and the GH6

1500 oil temperature [2]
173
With a change in the load power losses change as well. Considering that the
aforementioned power loss converts into heat, the oils operating temperature changes
as well. With a change in operating oil temperature the oil viscosity changes as well.
This is presented in Figure 4, depicting the GH6-1500 synthetic oil. Power losses
depend on oil viscosity as well. Consequently, the calculation of power losses in
bearings was carried out for the determined values of operating oil temperature. Thus,
the obtained interdependence between power losses and load was not linear (Figure
4). One can also notice that the impact of the load on the efficiency is significantly
higher that the impact of a change in an oils kinematic viscosity.
3.2.3 Mesh Power Losses

In order to determine a worm pair efficiency z it is necessary to establish the
power transmitted through the flanks in contact. The input power of a worm pair P1z is
obtained when the input power P1 is reduced by a power loss which had already been
spent in bearings (PGLA + PGLB) and worm shaft seals PGD1, i.e:
P1z P1 PGLA PGLB PVD1

(4)
The output power of a worm pair P2z is the power which is transmitted to a
worm gear shaft. It is obtained when the useful power of the output shaft P2 is
increased by losses in bearings (PGLC + PGLD) and worm gear shaft seals PGD2, i.e:
P2 z P2 PGLC PGLD PVD 2 (5)
The mesh efficiency of a worm pair z is determined as a ratio of the output P2z
and the input P1z power, according to the following expression:
P2 z P2 PGLC PGLD PGD 2

z (6)
P1z P1 PGLA PGLB PGD1
For all load levels which have been used in experimental conditions (from
T2 = 10 Nm to T2 = 22 Nm), according to the aforementioned SKF procedure [1], power
losses have been determined for all bearings and seals. For the determined torque
values of a worm gear at the input T1 and output T2, the mesh efficiency values of a
worm pair have been determined according to the expression (6). A change flow of the
mesh efficiency of a worm pair which depends on the load has been presented in
Figure 6.
The values of the mesh efficiency of a worm pair have been determined
according to the expression (7.25), and they move within the following limits
z = 0,56 0,77. A trend of change flow lines of the output torque shows that an
increase in the load results in an increase in the mesh efficiency of a worm pair. This
change flow is influenced by a change in operating temperature, which results in a
change in oil viscosity, and consequently in a coefficient of friction, as well as in a
power loss in the contact zone.
174
0.80
0.75
W or m ge ar e ffic ie nc y z
0.70
0.65
0.60
0.55
0.50
8 10 12 14 16 18 20 22 24
T 2 [Nm]
Figure 6. Mesh efficiency of a worm pair obtained through an experiment for the input
speed n1 = 5000 min-1 and for different output torque values T2
Figure 7 shows a distribution of the total power which is brought from the motor
to the transmission device. Bearing in mind that this distribution depends on the load,
the diagram presents mean values. One can observe that the useful power at the
output shaft is 64%, while the rest are mesh power losses (27%), as well as in
bearings and seals (9%). Accordingly, more than a third of the total transmission
device power is lost and converted into heat.
Distribution of the total power
PGLD
9%
PGz
27%
P2
64%
P2 - Useful output power

PGz - Worm gear power loss
PGLD - Bearing and seal power loss
Figure 7. Distribution of the total power brought to worm gear (mean values)
NOMENCLATURE
i transmission ratio
n1 input speed, min-1
P1, P2 input and output, kw
PG total power losses of transmission, kw
T torque, Nm
175
z mesh efficiency
overall efficiency
4 CONCLUSION
This research into worm gear efficiency has been performed for extreme
operational conditions, but with quality worm pair materials (tin bronze/hardened and
ground steel) and with quality lubricants (high-viscosity Klbersynth GH 6/1500 oil). On
the basis of the presented results one can draw the following conclusions:
A overall efficiency of a transmission device moves within the following
boundaries = 0,52 0,71. A trend of the output torque change flow lines
(Fig. 3) shows that an increase in the load results in an increase in the
overall efficiency of a transmission. This change flow is influenced by
numerous factors, such as power losses in bearings and seals, operating
temperature, i.e. oil viscosity, as well as power losses in the contact zone.
Efficiency values of a worm pair is within the following boundaries
z = 0,56 0,77. A trend of the output torque change flow lines (Figure 4)
shows that an increase in the load results in an increase in a overall
efficiency of worm pair. It is a result of a change in operating temperature,
which causes change in oil viscosity, and consequently in coefficient of
friction, as well as in power losses in the contact zone.
Out of the total power which is transmitted from the motor to the
transmission device (Figure 7) the useful power at the output shaft is 64%,
while the rest are mesh power losses (27%), as well as in bearings and
seals (9%). Therefore, regardless of a worm pair quality material and quality
lubricants, with this type of transmission devices one should expect power
losses of over 30%. Since this energy is converted into heat, it would be
significant to consider the thermal stability of such transmission devices.
REFERENCES
[1] SKF: Hauptkatalog, Das Wlzlager-Handbuch fr Studenten Neuwertig, 2014.
[2] Klbersynth GH 6: Synthetic gear and high temperature oils based on KlberComp
Lube Technology, 2014.
[3] DIN 3996 (9/2012). Tragfhigkeitsberechnung von Zylinder Schneckengetrieben
mit sich rechtwinklig kreuzenden Achsen.
[4] Magyar, B., Sauer, B., Hork, P.:Tribological Investigation of K Type WormGear
Drives. Acta Polytechnica Hungarica. Vol. 9, No. 6. s. 233-252, 2012
[5] Berger, M., Sievers,B., Hermes, J.: Standardized Wear and Temperature
Prediction for Worm Gears under Non-Steady Operating Conditions, International
Conference Gears 2015, Munich, Germany, VDI Berichte 2255.1 - pp.483-492.
[6] Miltenovi V., Bani M., Miltenovi A.: Modern Approach for Load Capacity
Calculation of Worm Gears; KOD 2012, Balatonfred, Hungary, 2012, pp. 55 - 64.
[7] Miltenovi ., Tica M., Miltenovi A., Bani M.:Load Capacity f Worm Gears with
Compact Design; 12th DEMI 2015, Banja Luka, Bosnia, pp. 469 474.
[8] Miltenovi, ., Bani, M. Miltenovi, A.:Effect of Lubricants at Efficiency Coefficient
of Worm Gear Transmitters. KOD 2010, Novi Sad, Serbia, pp. 163-166.
176
_____________________________________________________________________________
DYNAMIC ANALYSIS OF THE THERMOFORMING

MACHINE WORKING MECHANISM
Maja avi1, Marko Peni2, Milan Rackov3, Ivan Kneevi4, Miodrag Zlokolica5
Abstract: Since the process of thermoforming is commonly used in the production of the
plastic packaging for food and medicine wrapping, it is essential that formed products,
are sterile during the entire process. Therefore, the new cam-lever mechanism for driv-
ing the tool within which products are formed are proposed. In comparison to conven-
tional mechanisms for driving tools with 1 DOF, it provides shorter working cycle, higher
productivity and sterility of the formed products during the entire process. This paper
presents a dynamic analysis of the thermoforming machine working mechanism which
has 2 DOFs and consists of two cam-lever mechanisms that enable translation, rotation
and combination of these two motions a complex motion of the tool. Based on the set
requirements kinetostatic analysis is performed and a dynamic model of the mechanism
was formed. Based on the geometric, kinematic and dynamic parameters the driving
torques are determined for lifting and rotation of the tool.
Key words: Cam-lever mechanism, Dynamic analysis, Thermoforming machine
1 INTRODUCTION
Thermoforming is an industrial process in which thermoplastic sheet or film foil
is processed into a new shape using heat and pressure or vacuum [1]. It is used for
packaging in the food and pharmaceutical industries [2], in medicine for the production
of orthopedic aids prosthetic sockets and orthotic interfaces [3], in orthodontics for
making thermoplastic aligners [4], in the electronics industry for the production of com-
plex armors for units [5]. Most widely used thermoplastic materials are ABS, PE, PS,
PP, PMMA, PVC, PC, PET [6]. Main characteristics of these materials is that they are
easy to shape and therefore this technology is increasingly used [7].
1 Assis. prof. Maja avi, Ph.D., University of Novi Sad, Faculty of Technical Sciences, Trg Dositeja Obradovia 6,
21000 Novi Sad, Serbia, scomaja@uns.ac.rs
2 Res. assoc. Marko Peni, M.Sc., University of Novi Sad, Faculty of Technical Sciences, Trg Dositeja Obradovia
6, 21000 Novi Sad, Serbia, (CA), mpencic@uns.ac.rs

3 Assis. prof. Milan Rackov, Ph.D., University of Novi Sad, Faculty of Technical Sciences, Trg Dositeja Obradovia 6,
21000 Novi Sad, Serbia, racmil@uns.ac.rs

4 Assis. Ivan Kneevi, M.Sc., University of Novi Sad, Faculty of Technical Sciences, Trg Dositeja Obradovia 6,
21000 Novi Sad, Serbia, ivanknezevic@uns.ac.rs

5 Prof. em. Miodrag Zlokolica, Ph.D., University of Novi Sad, Faculty of Technical Sciences, Trg Dositeja Obradovia 6,
21000 Novi Sad, Serbia, mzlokolica@uns.ac.rs

177
Maja avi, Marko Peni, Milan Rackov, Ivan Kneevi, Miodrag Zlokolica
2 THERMOFORMING PROCESS
Thermoforming consists of the three basic operations: foil manipulation, product
forming and product manipulation [8]. Each operation is performed on a separate module on
the thermoforming machine. The product forming is performed within the working module
with the special tool which consists of two parts Figure 1. The upper part of the tool is im-
movable, while the lower part is moving in accordance with the process of work. When the
movable part of the tool is in the lower position, then the foil is retracted. Then the tool is lifted
and presses the foil along the upper immovable part of the tool, whereby there is a tool
standstill period within which the products are forming. At the end of the process, the lower
part of the tool is moved downward and the products are transported to the module for prod-
uct manipulation.
Figure 1. Thermoforming tool Figure 2. Working cycle of tool
In the earlydesigns of the thermoforming machines the tool holder had only vertical
movement, respectively one degree of freedom DOF, so formed products were blown out
of the lower part of the tool with compressed air, whereby the contamination and product
deformation can occur. Therefore a need incurred for a mechanism that will manipulate the
finished products. Such a mechanism should enable the extraction of the formed products
from the lower part of the tool through the work space the space between the upper and
lower part of the tool, and to their enable transportation to the module for product manipula-
tion. In this way, products remain sterile during entire process which is essential.
The space of the working area is relatively small and therefore the access to
products is limited. This problem is solved by rotating the lower half of the tool, so that
products can be accessed with the appropriate mechanisms through the working area.
When the movable part of the tool is in the lower position, it is then rotated to a certain
angle, usually 80, and then brought to the standstill. During this time, the products are
extracted by a mechanism and transported to the module for manipulation within which
they are sorted and packed. After that, the tool is rotated and set into the starting posi-
tion.One of the ways to reduce the duration of the working cycle and increase the
productivity is that the movable part of the tool performs complex motions simultaneous
rotation and translation. A typical thermoforming machine working cycleis shown in Fig-
ure 2. At the beginning of the cycle, the tool is rotated to a certain angle, then begins
simultanious rotation and translation and, at the and, it performs just the translation until
it reaches the final position when it stops to a standstill. Thermoforming of the products is
done during the tool standstill. Further motion of the tool has the reverse order.
178
Dynamic analysis of thermoforming machine working mechanism
3 WORKING MECHANISM
The working mechanism of the thermoforming tool has two degrees of freedom
DOFs and enables rotation, translation and the combination of these two motions, which
are the basic requirements for the realization. Different ways of tool driving system as
well as the cycle control system, based on what mechanism is adopted for the vertical
motion of the tool, are analyzed in [9]. Synthesis of the lifting mechanism is performed in
[10] while the problems of the tool rotation were investigated in [11,12]. A complex cam-
lever mechanism is adopted which has 2 DOFs Figure 3.
Figure 3. Thermoforming machine working mechanism
Working module consists of two mechanisms: the cam-lever mechanism for ver-
tical main motion of the tool holder and the cam-lever mechanism for rotation of the
tool auxiliary motion. The cam mechanisms drive the lever mechanisms, whereby the
cam plates are set on the same shaft, in that way synchronizing the motion provided
one actuator is driving both mechanisms. Therefore, the input kinematic parameters of
the cam mechanisms are equal rotation angle input 2 o 2 d , angular velocity
input 2o 2 d and angular acceleration input 2o 2 d .
The cam mechanisms are used to control the working cycle, respectively for trans-
forming the continuous rotary motion of the actuator to appropriate, precisely defined, peri-
odic rotary oscillatory unequal motions or periodic standstill of input links of the lever
mechanisms 3o and 3d. The kinematic parameters of links 3o and 3d are
3o , 3o , 3o ,3d , 3d , 3d and are defined with SVAJ diagrams for the cam mechanisms
(SVAJ for rotation and lifting the tool), and represent the input parameters for lever mecha-
nisms.
Lever mechanism for lifting has to transform the rotary oscillatory motion which input
link 3d receives from the cam 2d, into output rectilinear motion of the link 7d. Working out-
put parameter of the mechanism for lifting/lowering the tool holder is the vertical position of
tool holder h. Lever mechanism for lifting/lowering the tool holder consists of the four-
bar linkage links 3d, 4d and 5d, and the slider crank mechanism links 5d, 6d, 7d
whereby link 7d represents the tool holder. Four-bar linkage enables that the driving
part is moved away from the working part and to gain a better power transmission and
179
motion, while the slider crank mechanism transforms rotary motion into the rectilinear.
Lever mechanism for rotating the tool consists of an eccentric slider crank mech-
anism links 3o, 4o and 5o, and the additional mechanism links 6o and 7o whereby
link 7o represents the tool. Eccentric slider crank mechanism performs the transfor-
mation of the input rotary oscillatory motion of the link 3o into the translational rectilinear
motion of the link 5o. Input link 3o receives the motion from the output cam 2o.
One of the requirements is that the mechanism for rotation enables only rotational
motion of the tool the tool is rotated only when the mechanism for rotation is active, and
that the lifting mechanism enables only translational motion of the tool the tool is lift-
ed/lowered only when the mechanism for lifting is active. This requirement is realized by
using an additional mechanism. Link 5o has the possibility of horizontal translational mo-
tion, while link 6o can slide vertically on the link 5o. If the link 5o is immovable, then the
mechanism for rotation is passive link 6o does not move horizontally relative to the link
7d, and therefore only vertical motion of the links 6o, 7o, 7d is possible the tool moves
vertically. If the mechanism for rotation is active, then link 5o is moving horizontally, and
therefore also the link 6o, which results in rotation of the link 7o the tool rotates. Rotation
of the tool is independent from the vertical position changes of the tool holder 7d, respec-
tively it can take place even when the tool holder 7d is in the standstill. When the mecha-
nism for tool lifting is passive, then the vertical motion does not exist and only a tool rota-
tion is performed. If the links 5o and 7d are moving, then both mechanisms are active and
therefore the tool is performing a complex motion. Working output parameter of mecha-
nism for rotating the tool is angle . Lever mechanism of the working module of the ma-
chine has 2 DOFs:
S 3 n 1 2P1 P2 3 11 1 2 14 0 2 (1)
where: n 11 - total number of mechanism links 3d, 4d, 5d, 6d, 7d, 3o, 4o, 5o, 6o, 7o
and 1, P1 14 - number of kinematic pairs of the first class joins in points O2o, Ao, Bo,
Co, Do, O2d, Ad, Bd, Cd, Dd and O3d, and sliding connections in points O3o, Dd and Co, and
P2 0 - number of kinematic pairs of the second class.
4 DYNAMIC ANALYSIS
By applying the d'Alembert's principle kinetostatic eqs. are formed in a following
form:
F i 0 (2)
M S ,i 0
i (3)
where: Si - an arbitrary point on the i -th link. Eqs. (2) and (3) contain the workload on the
i -th link, inertial and gravitational forces of the i -th link, the forces of friction dry and
viscous, and reactions in the connectioncs of the i -th link with theother links of the mecha-
nism.
As the mass of the tool is significant relative to the other links of the mechanisms,
active loads will be: weight G, inertial force FIN and the inertial moment MIN for the link 7o
the tool. In addition, an active force FC generated by the cylinder acts upon the tool holder.
After the decomposition of the mechanism, kinetostatic equation are formed for
the each link. Since this is a mechanism with 2 DOFs, procedures differs from the typical
procedure for mechanisms with 1 DOF. Therefore, the system of 30 linear equations with
180
30 unknown is formed. Reactions Rij in the joints of the mechanisms are obtained ( Rij is
a reaction with which link i of mechanism acts upon the link j of the mechanism) they
are used for dimensioning links and joints of the mechanism. Also, the torques M3pd and
M3po (the driving torques on the input links 3d and 3o) are calculated they are used for
dimensioning of the cam mechanisms and for the adoption of the actuators.
Since the dynamic analysis exceeds the scope of this paper, only final equations
are presented. Torque on the input link of the lever mechanism for rotation and torque on
the input link of lever mechanism for the lifting are determined according to:
r3oy r4oy r3ox
M 3 po
r7 oy r4ox r7 oy
rSx YIN G rSy X IN (4)

r r
r5d 1 y r6 dx G YIN FC

M 3 pd r3dx r4 dy r3dy r4 dx 5 d 1x 6 dy
(5)

r6 dy r5d 2 y r4 dy r5d 2 x r4dx
Figure 4. Kinematic scheme of working mechanism
On Figure 4, the projections of the vectors are determined according to:

rix ri cos i (6)
riy ri c sin i (7)
The kinematic parameters are:
rd r02d r32d 2r0 d r3d cos 0 d 3d (8)

r0 d cos 0 d r3d cos 3d
d arccos (9)
r r32d 2r0 d r3 d cos 0 d 3 d
2
0d
r42d rd2 r52d 2

4 d d arccos (10)
2rd r4 d
181
r42d rd2 r52d 2

5d 2 d arccos (11)
2rd r5 d 2
5d 1 5d 2 (12)
r5 d 1 cos 5 d 1
6 d arccos (13)
r6 d
h yO3d r5d1 sin 5d1 r6d sin 6d (14)
rBox r3o cos 3o r (rBoy r3o sin 3o )
2
4o
2
(15)
rBoy r3o sin 3o
4 o arcsin (16)
r4 o
rBox r5ox rEx
7 o arc cos (17)
r7 o
r5oy h r7 d r7 o sin 7 o rBoy (18)
Inertial force and inertial torque of the tool are determined according to:
FIN maS (19)

M IN J 7o (20)
aSx rS 7 o sin S rS 72o cos S (21)
aSy h rS 7 o cos S rS sin S
2
7o (22)
S 7 o (23)
7o 7o (24)
where: m - tool mass, aS - acceleration of the tool centre of mass, J - moment of inertia
of the tool, and 7o - angular acceleration of the tool.
Torque of the cam for rotating/lifting is determined by the balance of power:
P2 po P3 po (25)

M 2 po M 3 po 3o M 3 po 3o (26)
2o in
P2 pd P3 pd (27)
3d
M 2 pd M 3 pd M 3 pd 3d (28)
2 d in
5 EXAMPLE
Geometric parameters of mechanism for lifting the tool are:
r3d 212 mm, r4 d 873.9 mm, r5 d 2 234.9 mm, r5d 1 350 mm, r6 350 mm,
r7 d 0 mm, xO 2 d , yO 2 d 0, 0 mm, xO3d , yO3d 1000, 100 mm, and 5.
Geometric parameters of the mechanism for rotating the tool are:
182
r3o 310 mm, r4 o 655.9 mm, r5ox 298 mm, r7 o 185 mm, yBo 216 mm,
rS 0 mm, xO 2o , yO 2o 0, 0 mm, and 40.
Dynamic parameters of the mechanism are:
FC 5.5 kN, m 550 kg, and J 20 kgm 2 .
Based on the set requirements the operating range of cams is determined:

2187 for lifting the tool Figure 5 and 056 for rotation of the tool Figure 6. The
driving torque for lifting the tool is approximately 1.3 kNm and for rotating is approximate-
ly 2.2 kNm.
(a) (a)
(b) (b)
(c) (c)
Figure 5. SVAJ diagrams for lifting the Figure 6. SVAJ diagrams for rotating
tool: (a) change of angle, (b) change the tool: (a) change of angle, (b) change
of angular velocity and (c) change of of angular velocity and (c) change of
angular acceleration of the lever 3d angular acceleration of the lever 3o
(a) (b)
Figure 7. Time histories of the driving torques on the cams:
(a) for lifting and (b) for rotating the tool
183
6 CONCLUSION
This paper presents a dynamic analysis of the working mechanism for ther-
moforming machine in order to reduce the working cycle time as well to increase its
productivity. Unlike conventional mechanisms for driving the tool that have 1 DOF, the
proposed mechanism has 2 DOFs and consists of two cam-lever mechanisms that
enable the translation, rotation and the combination of these two motions of the tool.
Based on the set requirements, kinetostatic analysis is performed and a dynamic mod-
el of the mechanism is formed. Based on the geometric, kinematic and dynamic pa-
rameters the operating range of the cams is determined and the drive torques for lifting
and rotation of the tool are determined. In further research the model will be formed
that will include the influence of the mass of other links of the mechanism, as well as
changes in SVAJ diagrams. With preoptimizing analysis the influential parameters will
be determined and optimization will be performed.
REFERENCES
[1] Klein, P. (2009). Fundamentals of Plastics Thermoforming: Synthesis Lectures on Mate-
rials Engineering. Morgan & Claypool, doi: 10.2200/S00184ED1V01Y200904MRE001.
[2] Gruenwald, G. (1998). Thermoforming: A Plastics Processing Guide. CRC Press Tay-
lor & Francis Group, Lancaster, Pennsylvania.
[3] Chimento, J., Highsmith, J., Crane, N. (2011). 3D Printed Tooling for Thermoforming of
Medical Devices. Rapid Prototyping Journal, vol. 17, no. 5, pp. 387392, doi:
10.1108/13552541111156513.
[4] Sander, C., Wiethoff, H.C., Sander, F.M. (2009). Orthodontic Treatment With Thermo-
plastic Aligners. Informationen aus Orthodontie & Kieferorthopdie, vol. 41, no. 3, pp.
183188, doi: 10.1055/s-0029-1224592.
[5] Ashter, S.A. (2014). Thermoforming of Single and Multilayer Laminates: Plastic Films
Technologies, Testing and Applications. William Andrew Elsevier, Kidlington, Oxford.
[6] Throne, J.L. (2003). Encyclopedia of Polymer Science and Technology. Chapter: Ther-
moforming, vol. 8, pp. 222-251, doi: 10.1002/0471440264.pst371.
[7] Throne, J.L. (2008). Understanding Thermoforming. Carl Hanser Verlag, Munchen,
Germany, doi: 10.3139/9783446418554.
[8] Engelmann, S. (2012). Advanced Thermoforming: Methods, Machines and Materials,
Applications and Automation. John Wiley & Sons, Hoboken, New Jersey.
[9] Kosti, M., avi, M., Zlokolica, M., Veselinovi, . (2006). About Driving-Transmission
Systems in Thermoforming Machines. Proc. of the 2nd Inter. Conf. on Power Transmis-
sions BAPT, Novi Sad, Serbia, pp. 509514.
[10] Kosti, M., avi, M., Zlokolica, M., Veselinovi, . (2007). Characteristics of Mechanism
Synthesis Procedures in Design. Proc. of the 3rd PSU-UNS Inter. Conf. on Engineering
and Technology ICET, Hat Yai, Thailand.
[11] Kosti, M., Zlokolica, M., avi, M. (2005). Certain Application of Two-D.O.F. Lever
Mechanism. Proc. of the 9th Inter. Research/Expert Conf. on Trends in the Development
of Machinery and Associated Technology TMT, Antalya, Turkey, pp. 965968.
[12] Kosti, M., avi, M., Zlokolica, M., Kovaevi, D., Matui, S. (2013). Optimization of
Two Degrees of Freedom Complex Mechanism. Proc. of the 6th PSU-UNS Inter. Conf.
on Engineering and Technology ICET, Novi Sad, Serbia, pp. 14.
184
_____________________________________________________________________________
EFFECTS OF FINITE ELEMENT TYPE, MESH SIZE AND FRICTION

ON SPUR GEAR NOMINAL TOOTH ROOT STRESS RESULTS
Kreimir Vukovi1, Ivan ular2, Stjepan Risovi3
Abstract: One of the most common reasons for failures in spur gears is bending fatigue
in the root of its teeth which mostly occurs as a consequence of cyclic nature of
stresses at tooth root. As a result, microcracks may start to form in the root of the gear
teeth, increase in size and propagate to surface, leading to a place of crack initiation
and eventually breakage of the teeth. Finite element method (FEM) is one of many
tools used in understanding the stress cycle. However, when one is to use FEM,
numerical models must be adequately generated or the method might produce wrong
results. One of the most important aspects of FEM analysis when creating the models,
are finite elements and depending on the type, they have different degrees of freedom,
hence might produce different results. If one is to adequately simulate the stress cycle
of the gear tooth, it is important to conduct the simulation as accurately as possible,
that is, to include as many aspects of real life problems as possible in the simulation,
e.g. the effect of friction on the nominal tooth root stress cycle.
Key words: Finite element method, Spur gear, Tooth root stress, Friction, Convergence
1 INTRODUCTION
Failures due to bending fatigue in the gear tooth usually occur near the place of
maximum tooth root stress. Conventional analytical solution described in ISO 6336
standard [1] calculates the value of nominal tooth root stress neglecting the teeth
deflections and friction during the meshing process. The nominal tooth root stress is
defined in ISO 6336 standard [1] as the maximum local principal stress produced at the
tooth root.
At low loads, deflections don't have a significant impact on the stress results,
however, at heavily loaded gears pairs, they need to be accounted for [2]. Dai at al. [3]
analyzed tooth root strain cycles of spur gears and gave an overview of the researches
conducted so far. In this paper, different finite element types are used to simulate spur
gear nominal tooth root stress. All of the results obtained by using the corresponding
1 Assist. prof., Kreimir Vukovi, PhD, University of Zagreb, Faculty of Mechanical Engineering and Naval
Architecture, Zagreb, Croatia, kresimir.vuckovic@fsb.hr (CA)
2 Student, Ivan ular, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture,
Zagreb, Croatia, ic191561@stud.fsb.hr

3 Prof., Stjepan Risovi, PhD, University of Zagreb, Faculty of Forestry, Zagreb, Croatia, risovic@sumfak.hr
185
Kreimir Vukovi, Ivan ular, Stjepan Risovi
elements are tested for convergence. Each finite element tested contains different
degrees of freedom (DoF) (e.g. 1st order triangular elements as opposed to 2nd order
triangular elements). The results are then compared to analytical solution obtained
through ISO 6336 [1]. The goal was to find the elements whose results adequately
represent those of the ISO standard calculation with the minimum number of elements
needed. Also, real life conditions such as friction are taken into account in order to
observe its effect on a tooth root stress cycle. In order to be able to compare the
results with ISO 6336 [1], spur gears used in simulations are modeled assuming error
free geometry without tolerances and profile modifications.
2 CONVERGENCE ANALYSIS
Nominal toot root stress was analyzed on a two dimensional steel spur gear
numerical model within the commercial finite element package ABAQUS-Standard [4].
Regarding the convergence, the analysis can be carried out simply by replacing the
tooth of an opposite gear with the force acting upon the tooth of an observed gear at
the outer point of single pair tooth contact (OPSPTC). Within the analysis, the material
is considered to be homogeneous, isotropic and linear elastic. During the analysis, to
avoid biased results, finite elements in the area of alteration (Figure 1. (c)) have to be
roughly the same size. Thus, a structured mesh type is used.
Basic data of analyzed gear pair is given in Table 1. The data for the
convergence analysis as well as the tooth root stress cycle analysis will be extracted
from the tooth root of the driving gear.
Table 1. Basic data of the gear pair

Parameter, symbol Driving gear (Gear 1) Driven gear (Gear 2)
Toothing type, - Involute gear profile
Pressure angle, 20
Module, m 4 mm
Profile shift coefficient, x 0.0849 -0.0849
Addendum of basic rack, haP 4 mm
Dedendum, hfP 5 mm
Root fillet radius of basic rack fP 0,8 mm
Tip diameter, da 100.679 mm 115.321 mm
Number of teeth, z 23 27
Facewidth, b 25 mm
Center distance, a 100 mm
Material 14NiCrMo13-4
Youngs modulus, E 210 GPa
Poissons ratio, 0.3
Numerical model used in the convergence analysis is shown on Figure 1. It

was created in ABAQUS as a two dimensional entity and its width is provided in
stress/strain thickness under section properties. The gear is connected using kinematic
coupling option to a reference point O1 whose DoF are all disabled. The value of the
force acting at the OPSPTC as well as the location of the OPSPTC are derived via
186
Effect of finite element type, mesh size and friction on spur gear tooth bending stress results
ISO 6336 standard [1] for an arbitrarily selected nominal moment of T = 400 Nm. Since
the topic of this paper is nominal stress at the tooth root, the area of finite element
alteration containing n number of elements is placed precisely there (Figure 1. (c))
Figure 1. Convergence analysis numerical model: (a) observed driving gear, (b)
observed gear tooth and (c) area of finite element alteration
Comparison of convergence for the 1st and 2nd order triangular elements can
be seen on Figure 2 and for the 1st and 2nd order rectangular elements on Figure 3.
Figure 1. Convergence of triangular finite elements
Figure 2. Convergence of rectangular finite elements
187
From Figures 2. and 3. it is clear that 2nd order finite elements provide more
accurate results as opposed to 1st order elements, thus only 2nd order finite elements
will be taken into consideration in further analyses.
Figure 3. Convergence comparison of second order finite elements
When it comes to the accuracy of the results, from Figure 4. it can be noted
that both triangular and rectangular second order finite elements are adequate.
However, second order rectangular elements show great promise even at extremely
low n values (nominal tooth root stress for second order rectangular elements is
approximately F0 = 270 MPa, whereas for the second order triangular elements it is
only about F0 = 210 MPa). From Figure 4., it can be also observed that nominal tooth
root stress (F0 = 284 MPa) obtained via ISO 6336 [1] is slightly greater than the final
one obtained using FEM analysis (F0 = 280 MPa), which is in accordance with [5].
3 EFFECT OF FRICTION ON NOMINAL TOOTH ROOT STRESS

Interesting real-world effect that occurs during transfer of power from the
driving gear to the driven gear is friction, which can have significant impact on the
nominal tooth root stress cycle. In order to further investigate the effects of friction, a
simulation is conducted which takes it into account.
3.1 Tooth root stress cycle numerical model

Similarly to the convergence analysis, models of both driving and driven gear
are created in ABAQUS using a two dimensional space. Boundary conditions and
loads are assigned via the reference points O1 and O2 shown in Figure 5., which are
connected to the gears using kinematic coupling option. In step 1, gear 1 (the driving
gear) was loaded with the moment of T = 400 Nm while DoF of the driven gear (gear 2)
were disabled in order to establish contact.
In step 2, a rotation was simulated by rotating gear 2 by 2 = 69. However,
since the observed gear is the gear 1, all of the stress cycles are shown as a function
188
Effect of finite element type, mesh size and friction on spur gear tooth bending stress results
of its rotation angle, 1. Contact amongst the teeth was established using option:
normal behavior, hard contact. In the case when friction was used, tangential behavior
property was added, with the arbitrarily chosen friction coefficient of = 0,1.
Figure 5. Numerical model for tooth root stress cycle analysis
3.2 Friction impact on the nominal tooth root stress cycle

Figure 6. shows two cycles of normal stress in a plane normal to the surface at
location of nominal tooth root stress for the driving gear. The first one with the effect of
friction whiles the second one is without.
Figure 4. Numerical model for stress cycle analysis
Figure 5. The driving gear cycle of normal stress in a plane normal to the surface
at location of nominal tooth root stress (maximum principal stress)
First thing to be notedDriving

is thatgear
the rotation tooth root
nominalangle, 1 ()stress for this analysis
occurs at approximate rotation angle 1 = 48. Even though the stress cycles are
considerably similar, during the period of a single pair tooth contact friction reduces the
values of tooth root stress and then increases it. That effect is a result of a friction force
189
direction change. Compared to the values of nominal tooth root stress of a frictionless
cycle, there is an increase of approximately 7-8 %. However, these results are the
product of an arbitrarily chosen uniform friction coefficient of = 0.1. According to [6]
the average friction coefficient for well lubricated gear pairs is usually lover than 0.1
and therefore the observed effect of stress increase would be smaller.
The nominal tooth root stress value in the case of frictionless contact
(F0 = 270 MPa) is lower than the value (F0 = 280 MPa) obtained when the force is
acting upon the tooth at the OPSPTC due to the effect of teeth deflection during the
meshing process. This finding was expected and is in accordance with the trends
published in [3] and [7].
4 CONCLUSION
In this paper, nominal tooth root stress of a spur gear tooth was analyzed in
order to determine which finite elements would produce most accurate results with the
least number of them needed. It was shown that both 2nd order triangular and
rectangular elements are substantially better at approximating results obtained from
analytical calculations than the 1st order finite elements. However, 2nd order rectangular
elements converge towards a result slightly 'faster' than the triangular ones. In other
words, a greater number of 2nd order triangle finite elements is required to achieve
convergence, thus requiring a greater number of equations and consequently more
time to obtain the necessary results. It was also observed that friction has a relatively
significant impact on the tooth root stress cycle of gear tooth (depending on the friction
coefficient ), especially in the area between the inner and the outer point of single pair
tooth contact. In the case when friction is taken in to account, the driving gear nominal
tooth root stress value is greater than in the case of frictionless contact.
REFERENCES
[1] ISO 6336. Calculation of Load Capacity of Spur and Helical Gear, ISO, 2006.
[2] Krantz, T.L., Handschuh, R.F. (2015). Gear Tooth Root Stresses of a Very Heavily
Loaded Gear Pair, Gearsolutions, vol. 10, no. 15, p.p. 48-58.
[3] Dai, X., Parker, R.G., Cooley, C.G. (2016). Dynamic tooth root strains and
experimental correlations in spur gear pairs, Mechanism and Machine Theory, vol.
101, p.p. 60-74.
[4] ABAQUS 6.13, Dassault Systmes Simulia Corp., 2013.
[5] Kawalec, A., Wiktor, J., Ceglarek, D. (2005). Comparative analysis of tooth-root
strength using ISO and AGMA standards in spur and helical gears with FEM-based
verification, Journal of Mechanical Design, vol.128, no. 5, p.p. 1141-1158.
[6] Martins, R., Seabra, J., Brito, A., Seyfert, Ch., Luther, R., Igartua. A. (2006).
Friction coefficient in FZG gears lubricated with industrial gear oils: Biodegradable
ester vs. mineral oil. Tribology International, vol. 39, p.p. 512-521.
[7] Vukovi, K., Gali, I. ular, I. (2016). A numerical model for estimation of spur
gear tooth bending fatigue life, Proceedings of the 16th International Conference
on New Trends in Fatigue and Fracture (NT2F16).
190
_____________________________________________________________________________
NUMERIKA ANALIZA VISEE JEDNOGREDNE MOSNE DIZALICE

Amna Bajtarevi1, Fuad Hadikaduni2, Nedeljko Vukojevi3
Rezime: Predmet ueg posmatranja u ovom radu jeste primjena numerike analize na
modelu jednogredne visee mosne dizalice sa optereenjima koja se javljaju pri radu u
realnim industrijskim uslovima. Tokom izrade realnog projekta koriten je analitiki i
numeriki proraun, a predmet ovog rada jeste samo naponsko-deformaciona analiza
numerikim putem. Uz upotrebu savremenih softwarea, metodom konanih
elemenata, utvrena su najvea naprezanja dizalice za najnepovoljniji sluaj, tj. kada
se vozno vitlo nalazi na sredini glavnog nosaa.
Kljune rijei: metoda konanih elemenata, mosna dizalica, naponsko deformaciona

analiza
NUMERICAL ANALYSIS OF SINGLE GIRDER SUSPENSION OVERHEAD CRANE

Abstract: Focus of this paper is the application of the numerical analysis of the single
girder suspension overhead crane with loads which appear during operation at real
industrial conditions. During designing of the real project, analytical and numerical
calculation is used, but main part of this paper is numerical stress strain analysis. By
using of modern softwares, by finite element method, the biggest strains are definited
for the worst case, i.e. when driving winch is on the center of the main girder.
Key words: finite element method, overhead crane, stress strain analysis
1 UVOD
Dizalice su grupa najire primjenjenih sredstava u rukovanju materijalima i
historijski su prisutna veoma dugo. Spektar rjeenja razliitih konstrukcija dizalica u
praksi je veoma irok. Prema tome, izbor tipa dizalice je usaglaen sa procesom koji
usluuje. Mosne dizalice su u velikoj mjeri primjenjene u industrijskom, preteno
procesnom transportu, ali i drugim djelatnostima [1].
1Asist. Amna Bajtarevi, dipl. in., Zenica, Univerzitet u Zenici, Mainski fakultet Zenica, BiH,
amna_bajtarevic@hotmail.com (CA)
2 Doc.dr.sc. Fuad Hadikaduni, Zenica, Univerzitet u Zenici, Mainski fakultet Zenica, BiH,
hfuad@mf.unze.ba
3 V.prof.dr.sc. Nedeljko Vukojevi, Zenica, Univerzitet u Zenici, Mainski fakultet Zenica, BiH,
vukojevicn@mf.unze.ba
191
Amna Bajtarevi, Fuad Hadikaduni, Nedeljko Vukojevi
Pri analizi optereenja dizalice, potrebno je analitikim proraunom utvrditi da li

usvojeni popreni presjek moe da podnese poveana spoljanja optereenja. S tim u
vezi analiziraju se konkretni sluajevi poloaja voznog vitla sa teretom. Deformacija
glavnog nosaa se u radu posmatra numeriki u cilju dokazivanja da djelovanje
spoljanjih optereenja ne izaziva prekoraenje dozvoljenog ugiba. Takoer, vre se i
druge provjere kao to je provjera pojasnih limova uzdunog nosaa u cilju osiguranja
od pojave lokalnog savijanja pri nailasku tokova voznog vitla preko ine.
Numerika analiza sloenih konstrukcija predstavlja veoma koristan alat za
razne oblike prorauna i provjere konstrukcijskih rjeenja, prije svega za analizu
deformacija i napona. Analizom numerikih i analitikih rezultata, izmeu ostalog,
moe se doi do zakljuka da li su rezultati numerikih analiza u velikom procentu
saglasni sa rezultatima analitikog prorauna, [2,3].
Sa aspekta istraivanja novijeg datuma jo uvijek su odreena numerika i
druga istraivanja usmjerena ka optimizaciji konstrukcije u smislu zadovoljavajue
krutosti i vrstoe, a smanjene sopstvene teine, [4,5]. Takoer, istraivanja su
usmjerena i na kvantitativu i kvalitativnu analizu naponsko-deformacionog stanja
konstrukcije rjeenja dizalice uz uvaavanje kriterija stabilnosti, [6,7]. Stoga,
optimizacija postojeih i novih rjeenja dizalica sa aspekta kriterija: vrstoe, krutosti,
deformacija, napona, mase, ekonomskih parametara, funkcionalnosti, dinamikih
ponaanja, itd., predstavlja jo uvijek predmet istraivanja mnogih autora.
2 OSNOVNI PODACI ANALIZIRANOG RJEENJA

Konstrukcija dizalice se sastoji od jednogrednog mosta i dva poprena nosaa
mosta, koji se preko tokova oslanjaju na insku stazu koja slui za kretanje dizalice.
Jednogredni most (glavni uzduni nosa) se sastoji od tankostijenog I profila. Donja
unutranja povrina ovog nosaa je predviena za kretanje voznih kolica. Nosai
mosta (popreni nosai) su izvedeni kao kutijasti profili i izraeni su od valjanih
standardnih elinih limova postupkom zavarivanja. Kolica s vitlom slue za
ostvarivanje poprenog kretanja u odnosu na kretanje dizalice, te za dizanje
sputanje tereta preko sistema podizanja koji se nalazi na konstrukciji voznog vitla.
Osnovni tehniki podaci dizalice su dati u tabeli 1, [8].
Tabela 1. Osnovni tehniki podaci za viseu jednogrednu dizalicu

R.br. Tehniko-tehnoloke veliine / Naziv Vrijednost - osobina
Visea jednogredna elektrina mosna
1. Tip
dizalica
2. Pogonska klasa II
3. Nosivost 32 [kN]
4. Raspon tokova dizalice 3000 [mm]
5. Pogon dizanja Elektromotor-bubanj
6. Brzina dizanja 2/8 [m/min]
7. Visina dizanja 7,64 [m]
8. Pogon dizalice Motor -reduktor
9. Brzina dizalice 6,3 [m/min]
10. Pogon voznog vitla Motor - reduktor
11. Brzina voznog vitla 10 [m/min]
12. Teina voznog vitla 4,95 [kN]
13. Pomono nosivo sredstvo Jednokraka kuka
14. Profil kranske staze INP 360
15. Max. sila po toku 6,2 [kN]
16. Lijevo odstojanje kuke od ose staze 315 [mm]
17. Desno odstojanje kuke od ose staze 435 [mm]
192
Numerika analiza visee jednogredne mosne dizalice 32kNx3m
3 DIO ANALITIKOG PRORAUNA VISEE JEDNOGREDNE MOSNE

DIZALICE
Radi ostvarivanja poreenja rezultata koji se dobiju numerikom analizom i
analitikim proraunom, u nastavku je dat prikaz dijela prorauna karakteristinih
veliina.
3.1 Proraun maksimalnog normalnog naprezanja na sredini glavnog nosaa
Na osnovu prorauna geometrijskih veliina, usvojen je profil glavnog

uzdunog nosaa, I 240. Vrijednosti karakteristinih veliina koje odreuju glavni nosa
su date u tabeli 2.
Tabela 2. Geometrijske karakteristike glavnog nosaa

Naziv Vrijednost
Visina profila h = 240 [mm]
irina profila b = 106 [mm]
Debljina vertikalnog lima d = 8,7 [mm]
Povrina poprenog presjeka A = 46,1 [cm2]
Teina profila q = 362 [N/m]
Moment inercije za x-osu Ix = 4250 [cm 4]
Otporni moment za x-osu W x = 354 [cm3]
Poluprenik inercije za x-osu ix = 9,59 [cm]
Moment inercije za y-osu Iy =221 [cm4]
Otporni moment za y-osu W y = 41,7 [cm3]
Poluprenik inercije za y-osu iy = 2,20 [mm]
Daljim proraunom, koritenjem odgovarajuih obrazaca [2], odreene su

vrijednosti maksimalnih momenata savijanja od tereta, voznog vitla i teine glavnog
nosaa. Rezultati prorauna su prikazani tabelarno u nastavku:
Tabela 3. Rezultati prorauna optereenja glavnog nosaa

Veliina Vrijednost
Maksimalni moment savijanja od tereta Mter = 24000 [Nm]
Maksimalni moment savijanja od teine
Mvit = 3713 [Nm]
voznog vitla
Maksimalni moment savijanja od vlastite
Mnos = 687 [Nm]
teine glavnog nosaa
Moment savijanja u horizontalnoj ravni
Ma = 290 [Nm]
od inercijalnih sila
Moment savianja od vertikalnih
Mx = 33600 [Nm]
optereenja
Moment savijanja od horizontalnih
My = 305 [Nm]
optereenja
Prema tome, na osnovu podataka iz tabela 2 i 3, maksimalno normalno

naprezanje na sredini glavnog nosaa analitiki se odreuje:
193
Mx My
... (1)
Wx Wy
33600 103 305 103

102,23 N / mm 2 ... (2)
3 3
354 10 41,7 10
3.2 Proraun ugiba uzdunog nosaa

Ugib uzdunog nosaa se javlja kao posljedica izduenja i/ili sabijanja
materijala. Lokalna deformacija usljed optereenja je zapravo premala da bi se mogla
vidjeti golim okom, ali je kumulativni efekat vidljiv kao ugib konstrukcije. Koristei
podatke iz tabela 1 i 2, ugib nosaa na sredini mosta se moe analitiki odrediti preko
obrasca:
(Q G v ) L3 5 qH L3
f ... (3)
48 E I x 384 E I x
(32000 4950) 30003 5 427 30003

f 2,35 mm ... (4)
48 210000 4250 10 4 384 210000 4250 10 4
4 NUMERIKI PRORAUN VISEE JEDNOGREDNE MOSNE DIZALICE

U cilju analize naponsko-deformacionih stanja visee jednogredne mosne
dizalice izvrena je numerika simulacija sa nazivnim optereenjem. Simulirano je
optereenje na savijanje postavljanjem nazivnog optereenja od voznog vitla i pogona
dizalice u najnepovoljniji poloaj tj. na sredini raspona dizalice. Analiza se izvodi za
varijantu optereenja sa etiri ravnomjerno rasporeene sile na mjestima oslanjanja
tokova voznog vitla na sredini dizalice.
Ova varijanta odgovara stvarnom stanju (oslanjanje vitla na etiri toka), i
maksimalna naprezanja se porede sa maksimalnim uporednim naponima na donjem
pojasu nastalim usljed lokalnog savijanja. Ova analiza ima za cilj da se provjeri
postojanje potencijalno kritinih mjesta izazvanih naglim prelazima, pojava prevelike
koncentracije napona, kao i da se provjere uporedni naponi sa rezultatima analitikog
prorauna.
Provjera ugiba na sredini nosaa vri se statikom silom intenziteta 43836 [N]
(korisni teret i vozno vitlo) i sopstvenom teinom dizalice. Razvijeni model dizalice
predstavlja rjeenje kontinuiranih nosaa bez parcijalnih segmenata, sa veznim
ploama i pomonim rebrima, sa tokovima i ostalim konstrukcionim elementima.
Analiza ovakvog prijedloga modela dizalice treba da pokae zadovoljenje
aspekta vrstoe osnovne nosive konstrukcije dizalice koja je izloena uticaju
maksimalnog optereenja od tereta koji dizalica nosi u toku rada za najnepovoljnije
sluajeve, te zadovoljenje uslova krutosti u vezi sa funkcionalnim zahtjevima za
posmatranu konstrukciju sa svim njenim funkcionalnim elementima pogona kretanja
dizalice i pogona dizanja, [3,9]. Na slici 1 dat je 3D prikaz posmatrane dizalice. Glavni
nosa (1) konstruktivnog rjeenja dizalice je izveden kao profil I 240. U tabeli 2 su
predstavljene osnovne geometrijske veliine istog. Kretanje dizalice po duini hale se
ostvaruje preko bonih nosaa (2) koji se preko tokova (4,5,6,7) oslanjaju na ine.
194
Pomou kolica sa voznim vitlom (3) ostvaruje se popreno kretanje u odnosu na

kretanje dizalice, te manipulisanje teretom (podizanje i sputanje tereta).
5
6
Slika 1. 3D model visee jednogredne mosne dizalice

1 Uzduni nosa, 2 Popreni nosai, 3 Vozno vitlo, 4,6 Slobodni toak,
5,7 Pogonski toak
Na slici 2 prikazano je uneseno optereenje dizalice u vidu etiri ravnomjerno
rasporeene sile na sredini glavnog nosaa. Mjerodavna vertikalna sila je intenziteta
43838 [N] rasporeena na etiri ravnomjerne sile.
Slika 2. Jednogredna dizalica sa etiri ravnomjerne sile na sredini nosaa

Na slici 3. je prikazan raspored i intenzitet uporednog napona izraunatog po
Von Misses-ovoj hipotezi. Vrijednost maksimalnog uporednog napona na sredini
nosaa za prvu varijantu optereenja ima vrijednost 88,8 [N/mm2], to se najbolje vidi
na slici 4. gdje je dat pogled na glavni nosa sa gornje strane.
195
Slika 3. 3D model mrea konanih elemenata
Slika 4. Uporedni napon na sredini nosaa 88,8 [N/mm2]

Prema gore navedenim pokazateljima, maksimalni napon od 111 [N/mm2] se
pojavljuje na mjestu djelovanja etiri vertikalne sile ukupnog intenziteta 43838 [N] koja
odgovara proraunskom optereenju, a pojavljuje se na donjem pojasu gdje je prisutno
i lokalno savijanje, slika 5.
196
Pod uticajem optereenja, javlja se deformacija na sredini glavnog nosaa

dizalice. Maksimalni izraunati ugib na sredini nosaa analitiki iznosi 2,35 [mm], dok
je maksimalna deformacija na sredini nosaa od 5,83 [mm] dobijena numerikom
simulacijom.
Slika 5. Pogled na deformaciju uzdunog nosaa dizalice

Rezultati izraunatog maksimalnog uporednog napona na sredini raspona
glavnog nosaa neznatno odstupaju. Analitiki izraunati maksimalni napon na
savijanje na sredini raspona iznosi 102,23 [N/mm2], dok je maksimalni uporedni napon
dobijen metodom konanih elementa 111 [N/mm2]. Svi uporedni naponi su znatno
manji od doputenog koji za ovu vrstu dizaline konstrukcije izraenu od R St 37-2 i za
sluaj optereenja iznosi 160 [N/mm2].
5 ZAKLJUAK
U predstavljenom konkretnom primjeru odreivanja naponsko-deformacionog
ponaanja jednogredne mosne dizalice potrebno je naglasiti da je cjelokupan projekat
podrazumijevao analitiki i numeriki pristup. U ovom radu je izvrena numerika
analiza primjenom metode konanih elemenata, pri emu se utvrdilo da rezultati
analitikog prorauna dobro prate rezultate numerike analize. S tim u vezi, analizirana
su i vertikalna i horizontalna optereenja.
Odstupanja uporednih napona su posljedica razliitog pristupa provjeri.
Analitikim putem je ukupni napon na sredini dobijen kao napon savijanja izazvan
djelovanjem nazivnog optereenja i vlastite teine dizalice, pri emu optereenje
djeluje kao koncentrisana sila na sredini nosaa. Kod numerikog modela, uporedni
napon predstavlja sumu svih naprezanja koja se javljaju na sredini glavnog nosaa, a
tu spadaju i normalni i tangencijalni naponi kao i naponi usljed lokalnog savijanja i
pritiskivanja u zoni djelovanja nazivnog optereenja.
S obzirom da su vrijednosti ugiba i uporednih napona ispod doputenih
granica, moe se konstatovati da visea jednogredna mosna dizalica raspona 3,0 [m]
za projektovano nazivno optereenje od 32 [kN] u potpunosti zadovoljava.
Potrebno je naglasiti da je u provedenom proraunu obuhvaen cjelokupni
konstrukcioni aspekt same dizalice.
197
LITERATURA
[1] Olevi, S. (2000). Transportna sredstva, Mainski fakultet, Zenica.
[2] Ostri, D. (1998). Dinamika mosnih dizalica, Mainski fakultet, Beograd.
[3] Ostri, D., Toi, S. (2005). Dizalice, Mainski fakultet, Centar za mehanizaciju,
Beograd
[4] Faluyi, F.; Arum, C. (2012). Design Optimization of Plate Girder Using Generalized
Reduced Gradient and Constrained Artificial Bee Colony Algorithms, International
Journal of Emerging Technology and Advanced Engineering,
[5] Faluyi, F.; Arum, C. (2012). Design Optimization of Plate Girder Using Generalized
Reduced Gradient and Constrained Artificial Bee Colony Algorithms, International
Journal of Emerging Technology and Advanced Engineering,
[6] Sankar, A.; Vijayan, D.; Ashraf, I. (2015). Reducing the structural mass of a real-
world double girder overhead crane, International Journal of Advances in
Engineering & Technology,
[7] Pinca, C. B.; Tirian, G. O.; Josan, A.; Chete, G. (2010). Quantitative and qualitative
study on the state of stresses and strains of the strength structure of a crane
bridge, WSEAS TRANSACTIONS on APPLIED and THEORETICAL MECHANICS,
[8] Bajtarevi, A. (2015). Izrada idejnog rjeenja visee jednogredne mosne dizalice
32kNx3m, Diplomski rad, Mainski fakultet, Zenica.
[9] Vukojevi, D. (1998). Teorija elastinosti sa eksperimentalnim metodama, Mainski
fakultet, Zenica.
198
________________________________________________________________________________________________
MANUFACTURING TECHNOLOGIES
AND ADVANCED MATERIALS
_____________________________________________________________________________
SIMULACIJA KINEMATIKE VIRTUELNOG PROTOTIPA MAINE

ALATKE BAZIRANE NA HIBRIDNOM O-X MEHANIZMU
Tabakovi Slobodan1, ivanovi Saa2
Rezime: Razvoj i usavravanje maina alatki u najvanije ciljeve ubraja: poveanje

fleksibilnosti maina, brzine obrade i maksimalno iskorienje raspoloivog radnog
prostora. Usavravanje maina alatki baziranih na paralelnoj ili hibridnoj kinematskoj
strukturi predstavlja jedan od potencijalno najinteresantnijih pravaca istraivanja koji
omoguuju ispunjenje svih pomenutih zahteva. U radu je prezentovan deo istraivanja
sprovedenog u cilju utvrivanja upotrebne vrednosti O-X hibridnog mehanizma u obe
konfiguracije radnog prostora koje ovaj mehanizam poseduje. Istraivanja su
sprovedena raunarskom simulacijom kinematike maine sa realnim dimenzijama
komponenata to predstavlja verifikaciju njenih mogunosti pre izrade fizikog
prototipa.
Kljune rijei: CAD/CAM, maine alatke, O-X mehanizam, simulacija
SIMULATION OF KINEMATIC OF VIRTUAL PROTOTYPE OF A MACHINE TOOL BASED ON

HYBRID O-X MECHANISM
Abstract: Development and improvement of machine tools in modern conditions
includes: increasing of flexibility, machining speed and better utilization of available
workspace. Improvement of a machine tools based on parallel or hybrid kinematics are
one of potential most interesting research directions that enable the fulfillment of all
above mentioned demands.
In this paper is presented part of the research of a usage value of O-X hybrid
mechanism in both configurations of a workspace which this mechanism has. The
research was conducted by using a computer simulation of the machine kinematics by
using real dimensions of components. That makes verification of its possibilities before
building of a physical prototype.
Key words: CAD/CAM, machine tools, simulation, O-X mechanism
1
Tabakovi Slobodan, Univerzitet u Novom Sadu, Fakultet tehnikih nauka, Departman za proizvodno
mainstvo, Novi Sad, Republika Srbija tabak@uns.ac.rs; (CA)
2
ivanovi Saa, Univerzitet u Beogradu, Mainski fakultet Beograd, Beograd, Republika Srbija,
szivanovic@mas.bg.ac.rs;
199
Tabakovi Slobodan, ivanovi Saa
1 UVOD
Usavravanje maina alatki kao osnove tehnolokih sistema, u savremenom
mainstvu obuhvata: poveanje fleksibilnosti maina, poveanje reima obrade i
maksimalno iskorienje radnog prostora. U skladu sa savremenim trendovima u
mainstvu [1] prilikom razvoja maina alatki neophodno je jo u procesu koncipiranja
sagledati sve prednosti i nedostatke potencijalnih reenja i optimizacijom obezbediti
odgovarajue karakteristike. Kao reenje za takve zahteve se namee primena
virtuelnih prototipova i odgovarajuih softverskih reenja u svim fazama razvoja
proizvoda [2].
U radu se opisuje jedna faza procesa projektovanja maine alatke na bazi
originalnog O-X mehanizma sa hibridnom kinematskom strukturom [3-7]. Ova faza
obuhvata simulaciju kinematskih karakteristika pri kretanju izvrnog organa
mehanizma brzinama koji odgovaraju eksploatacionim pri operacijama obrade
kompleksnih radnih predmeta. Pri tome se simulacije vre na osnovu eljene putanje
alata u cilju verifikacije geometrijskih i kinematskih karakteristika hibridnog mehanizma
i nosee strukture, kao i uoavanje eventualnih kolizija u toku rada.
2 OPIS KONCEPCIJE MAINE SA HIBRIDNOM KINEMATIKOM

Maina alatka sa hibridnom kinematikom, razmatrana u ovom radu, je bazirana
na hibridnom O-X mehanizmu nastalog kombinovanjem ravanskog paralelnog
mehanizma i nosee strukture koja omoguava njegovo translatorno kretanje.
Ravanski paralelni mehanizam je koncipiran tako da izvrni organ maine najvei deo
radnog prostora moe dosegnuti u dve konfiguracije mehanizma, ime se ponaa
dualno kao dva paralelna mehanizma sa razliitim karakteristikama u pogledu:
dimenzija radnog prostora, krutosti, brzina i sl. Na slici 1 su pokazane polazne
koncepcije maine sa hibridnom kinematikom u poloajima sa opruenom (O) i
ukrtenom (X) O-X strukturom. Ravanski paralelni mehanizam ine pokretna platforma,
koja je preko sfernih zglobova vezana za tapove konstantne duine. tapovi su na
drugom kraju obrtnim zglobovima (sa jednim stepenom slobode) vezani za
odgovarajue klizae, od kojih se svaki kree po sopstvenoj voici. U cilju poveanja
autonomije kretanja klizaa oni su pozicionirani na razliitim rastojanjima, u pravcu
vertikalne ose, to omoguava njihovo mimoilaenje u ravni, kao i kretanje
mehanizma, u opruenom (O) i ukrtenom (X) poloaju.
a) b)
Slika 1. Polazne koncepcije CAD modela opruenog i ukrtenog oblika O-X glide
mehanizma
200
Simulacija kinematike virtuelnog prototipa maine alatke bazirane na hibridnom O-X mehanizmu
Dualnost mehanizma prua dodatne mogunosti prilikom obrade radnih

predmeta, ali istovremeno namee potrebu za kompleksnijm upravljakim algoritmima,
koji treba da budu razvijeni za obe konfiguracije maine.
3 SIMULACIJA KINEMATIKE HIBRIDNOG O-X MEHANIZMA

Simulacija kinematike primenjenog O-X mehanizma koji je ugraen u strukturu
maine alatke podrazumeva mogunost modeliranja hibridnog mehanizma sa svim
vezama izmeu komponenata, koje daju mogunost kretanja elemenata virtuelnog
prototipa kao sistema krutih tela. Primeri ovakvih simulacija se mogu videti i u
radovima [5-8]. Simulacija kinematike mehanizma je standardna opcija koju nude
kompleksni CAD/CAM/CAE sistemi a za ovu priliku je odabran PTC Creo 2 [9], i njegov
modul Mehanizam (Mechanism) koji moe da se koristi za:
modeliranje mehanizma razliitog nivoa sloenosti,
definisanje kinematikih veza izmeu komponenata sklopa mehanizma,
definisanje servo motora,
runo povlaenje mehanizma koji se kree u skladu sa definisanim
kinematikim vezama,
analiza brzina i ubrzanja komponenata sklopa,
pokretanje mehanizma u ciklusu,
crtanje traga kretanja za pokretne elemente u sklopu (Trace Curves),
crtanje obvojnice za pokretne elemente u sklopu,
analizu radnog prostora,
generisanje video fajla mehanizma u kretanju.
Na slici 2. pokazan je model detaljnog virtuelnog prototipa maine sa hibridnom
kinematikom na bazi O-X ukrtenog mehanizma sa definisanim svim kinematikim
vezama.
Slika 2. Definisane kinematike veze hibridog O-X mehanizma u modulu Mechanism

CAD/CAM sistema PTC Creo 2.0
201
Na slici 2 se mogu uoiti i karakteristine oznake sa njihovim ematskim

prikazom i engleskim nazivom veze. Pri tome su koriene odgovarajue standardne
kinematike veze, kao to su Pin, Slider, Ball. Takoe su za potrebe simulacije
iskoriene mogunosti definisanja pogonskog elementa, i iscrtavanje traga take na
posmatranom sklopu u toku kretanja (Trace Curves). Ovakvo formiranje sklopa
omoguava pomeranje modela u granicama koje definiu veze, to je od posebnog
znaaja za uoavanje moguih kolizija prilikom kretanja elemenata mehanizma.
Simulacija kinematike hibridog O-X mehanizma u modulu Mechanism, je
realizovana na konkretnom primeru obrade test radnog predmeta za maine alatke sa
tri numeriki upravljane ose. To obuhvata simulacije kretanja linearnom i krunom
interploacijom kao i izradu rupa i/ili otvora. Pored kretanja, vreno je praenje rezultata
simulacije za pojedine zglobove sa grafikim prikazom eljenih zavisnosti. Deo tih
rezultata za primer krune interpolacije je pokazan na slici 3. Mehanizam sa
definisanim kinematikim vezama, pogonima i obratkom se vidi na slici 3a. Za
pokazani primer definisani su pogoni za kretanje vrha alata po krunoj inetrpolaciji za
zavrnu obradu cilindrinog dela na obratku. Po ostvarenoj simulaciji mogu se kreirati
razliiti izvetaji (Measure Results), slika 3b. Pokazane su zavisnosti promene
koordinata X, Y i Z u funkciji vremena za kretanje programirane take vrha alata, slika
3c, zavisnosti promena pogonskih translatornih osa za ostvarivanje krune
interpolacije, slika 3d, kao i zajedniki prikaz obe prethodne zavisnosti na jednom
dijagramu u funkciji vremena, slika 3e.
Slika 3. Simulacija kinematike hibridog O-X mehanizma u modulu Mechanism

CAD/CAM sistema PTC Creo 2.0
202
Slika 4. Prikaz CAD modela maine sa hibridnom kinematikom i geometrijski dobijenog

radnog prostora
Analiza radnog prostora paralelnih mehanizama je znaajna naroito u fazi

konfigurisanja, to se naroito odnosi na razmatranu mainu jer koristi ravanski
paralelni mehanizam [3,5]. Za ravanski mehanizam u ovom radu je izvreno i
geometrijsko odrei-vanje radnog prostora simulacijom krajnjih poloaja elemenata
mehanizma i tako dobijeni CAD model je postavljen na radni sto maine. Prvo je
odreen radni prostor ravanskog paralelnog mehanizma budui da je ukupni radni
prostor sastavljen od identinih oblika rasporeenih po treoj, serijskoj osi. Na taj nain
je omogueno lake postavljenje obradaka na radni sto, sa sigurnou da je baziranje
u granicama radnog prostora.
4 SISTEM ZA PROGRAMIRANJE I SIMULACIJA RADA MAINE KADA

MAINA RADI PO ZADATOM PROGRAMU
Sistem za programi-ranje primenom CAD/CAM sistema je oformljen i pre
gradnje fizikog prototipa maine, ali tako da ukljuuje i simulaciju virtuelnog prototipa
maine, ime se vri verifikacija dobijenih programa obrade. Simulacija rada maine
primenom virtuelnog prototipa je najbezbedniji i najisplativiji nain verifikacije
programa. Ovaj vid simulacije je posebno znaajan i u fazi razvoja novih maina jer
omoguava uoavanje eventualnih nedostatka.
Na slici 5 je prikazano okruenje za programiranje na konkretnom primeru
simulacije rada maine prema zadatom programu za obradu test radnog predmeta za
ispitivanje maina alatki.
203
Slika 5. Sistem za programiranje u CAD/CAM okruenju sa simulacijom rada maine

kada maina radi po zadatom programu
Okruenje za programiranje moe predstavljati proizvoljni CAD/CAM sistem ili

bilo koji softver koji omoguava runo programiranje. Oformljeno okruenje za
programiranje u ovom radu koristi CAD/CAM sistem PTC Creo 2.0 [10]. Zahvaljujui
kinematikim vezama, koje su pokazane u poglavlju 3, pri simulaciji obrade je ukljuen
i kompletan virtuelni prototip maine, opcijom Machine play, slika 5. Ova simulacija se
ostvaruje u reimu rada maine po zadatom programu. Kao primer za simulaciju je
korien radni predmet za ispitivanje maina alatki, dobijen modifikovanjem test
radnog predmeta definisanog ISO standardom. Jo jedan od primera za simulaciju
rada maine je i primer konturne obrade (Trajectory Milling) za sloenu krivolinijsku
putanju, koja je pokazana na slici 6. Obradak na slici 6 predstavlja srednjovekovni
srpski tit.
Slika 6. Primer simulacije rada pri konturnoj obradi sloene krivolinijske putanje
204
Oformljeno okruenje za programiranje omoguava simulaciju putanje alata na

bazi generisanog upravljakog programa, simulaciju uklanjanja materijala (NC Check -
VeriCUT) i simulaciju rada maine po zadatom programu. Tokom simulacije se mogu
uoiti kolizione situacije, kao i eventualno loe postavljanje obrtaka u granice radnog
prostora maine. U CAD/CAM sistemu se generie i odgovarajui postprocesor za
generisanje G koda saglasno standardu ISO 6983.
Za razvoj budue maine alatke veoma znaajan proces obuhvata i verifikaciju
upravljakih algoritama za interpretaciju programskih reenica upravljakog programa
numeriki upravljanih maina alatki. Ovaj proces je naredni korak koji e biti realizovan
implementacijom upravljakih algoritama u virtuelni prototip maine alatke koji e biti
integrisan sa upravljakim sistemom.
5 ZAVRNA RAZMATRANJA
Na osnovu sprovedenih istraivanja je izveden vei broj zakljuaka koji se
odnose na konkretnu mainu alatku ali i na mogunosti primene virtuelnih prototipova
u procesu razvoja slinih proizvoda. Pre svega, analize su pokazale da izabrano
reenje u pogledu konfiguracije O-X mehanizma poseduje odgovarajue osobine za
mini mainu alatku ali da je za unapreenje geometrijskih karakteristika radnog
prostora neophodna modifikacija pojedinih elemenata u pogledu duine hoda klizaa
na paralelnom mehanizmu. Sa druge strane, primena virtuelnog prototipa je u
potpunosti opravdana budui da je ve u fazi izbora konfiguracije elemenata omoguila
uvid u: primenljivost i stepen iskorienosti pojedinih komponenenata, ispravnost
upravljakog algoritma i eksploatacione karakteristike budue maine alatke.
Na osnovu dobijenih rezultata se, posle odgovarajuih korekcija, prelo na
sledeu fazu razvoja maine alatke, izradu funkcionalnog fizikog prototipa na
Departmanu za proizvodno mainstvo Fakulteta tehnikih nauka u Novom Sadu.
ZAHVALNOST
Ovaj rad je nastao u okviru istraivanja na projektima TR 35025 Savremeni
prilazi u razvoju specijalnih reenja uleitenja u mainstvu i medicinskoj protetici i TR
35022 Razvoj nove generacije domaih obradnih sistema, koji je podran od strane
Ministarstva prosvete, nauke i tehnolokog razvoja Vlade Republike Srbije.
LITERATURA
[1] Altintas, Y., Brecher, C., Weck, M., Witt, S. (2005). Virtual machine tool, CIRP
Annals - manufacturing technology, 54/2, p.p. 115-138.
[2] Fortunato, A., Ascari, A. (2013). The virtual design of machining centers for HSM:
Towards new integrated tools, Mechatronics, 23/3, p.p. 264-278.
[3] Mlaenovi C., Tabakovi S., Zeljkovi M. (2012). Kinematic analysis of machine
tool based on O-X glide hybrid mechanism using a symbolic virtual model, Journal
of Production Engineering, 15/1, p.p. 37-40.
[4] Tabakovi, S., Zeljkovi, M., Gatalo, R., Mlaenovi, C. (2012). Ureaj za
manipulaciju radnim predmetima ili alatima kod maina alatki i industrijskih
manipulatora, Glasnik intelektualne svojine, Br. 2/2012, Zavod za intelektualnu
svojinu Republike Srbije, Beograd, Broj: 20111243.
[5] Tabakovi, S., ivanovi, S., Zeljkovi, M., Tabakovi, N. (2016). Verifikacija
kinematskih karakteristika maine alatke bazirane na hibridnoj kinematici
205
primenom virtuelnog prototipa, Zbornik radova, XVI meunarodni nauno-struni

Simpozijum INFOTEH-JAHORINA 2016, str. 402-407.
[6] Tabakovi, S., ivanovi, S., Zeljkovi, M. (2015). The application of virtual
prototype in design of a hybrid mechanism based machine tools, Journal of
Production Engineering, 18/2, p.p. 77-80.
[7] Jovii, G., Tabakovi, S., Zeljkovi, M., Mlaenovi, C. (2016). Strukturna
optimizacija pokretne platforme vienamenske maine alatke sa hibridnom
kinematikom, Zbornik radova, 40. JUPITER konferenencija, 36. simpozijum NU-
Roboti-FTS, Mainski fakultet, Beograd, str. 3.16-3.21.
[8] Zivanovic, S., Glavonjic, M., Milutinovic, D. (2015). Configuring A Mini-Laboratory
and Desktop 3-Axis Parallel Kinematic Milling Machine, Strojniki vestnik - Journal
of Mechanical Engineering, 61/1, p.p. 33-42.
[9] Zivanovic, S., Kokotovic, B. (2015). Configuring a virtual desktop 5-axis machine
tool for machine simulation, Proceedings of the 12th International Conference on
Accomplisments in Electrical and Mechanical Engineering and Information
Technology DEMI 2015, p.p. 255-262.
[10] PTC Creo, http://www.ptc.com/cad/creo, pristupljeno 11.4.2016.
206
_____________________________________________________________________________
SIMULACIJA VIRTUELNE REKONFIGURABILNE PETOOSNE

MAINE ALATKE KADA MAINA RADI PO ZADATOM PROGRAMU
Saa ivanovi1, Nikola Slavkovi2, Branko Kokotovi3, Dragan Milutinovi4
Rezime: U ovom radu je pokazano konfigurisanje virtuelne rekonfigurabilne petoosne

maine alatke za potrebe simulacije rada maine po zadatom programu. Simulacija
rada maine je realizovana u CAD/CAM okruenju, kada maina radi po zadatom
programu na bazi CL fajla i u STEP-NC Machine okruenju, kada maina radi na bazi
programa u STEP-NC formatu. Na ovaj nain se dobija mogunost verifikacije
programa za mainu, koja ukljuuje i kompletan virtuelni model maine koji je
konfigurisan sa odgovarajuim kinematikim vezama. Verifikacija simulacije rada
maine kada radi po zadatom programu je testirana na primerima u oba okruenja.
Kljune rijei: CAD/CAM, rekonfigurabilna 5-osna maina alatka, simulacija , STEP-NC
MACHINE SIMULATION OF VIRTUAL RECONFIGURABLE 5 AXIS MACHINE

TOOL WHEN MACHINE WORKING ACCORDING TO THE RUNNING PROGRAM
Abstract: This paper presents configuring of a virtual reconfigurable 5-axis machine
tool for the purpose of realizing the simulation of the machine according to the running
program. Machining simulation is realized in the CAD/CAM environment, when the
machine works according to the running program based on CL files, and in the STEP-
NC Machine environment when the machine works according to the running program
based on program in the STEP-NC format. In this way, it is obtained a possibility of
program verification for the machine, which includes a complete virtual model of the
machine which is configured with the corresponding kinematic relationships.
Verification of the simulation of machine tool when works according to the running
program has been tested on examples in both environments.
Key words: CAD/CAM, reconfigurable 5-axis machine tool, simulation , STEP-NC
1. UVOD
Pojam virtuelnih obradnih sistema, kao i simulacije rada virtuelnog prototipa
1
Prof. dr Saa ivanovi, Univerzitet u Beogradu, Mainski fakultet, (szivanovic@mas.bg.ac.rs) (CA)
2 Doc. dr Nikola Slavkovi, Univerzitet u Beogradu, Mainski fakultet, (nslavkovic@ mas.bg.ac.rs)
3 Doc. dr Branko Kokotovi, Univerzitet u Beogradu, Mainski fakultet, (bkokotovic@ mas.bg.ac.rs)
4 Prof. dr Dragan Milutinovi, Univerzitet u Beogradu, Mainski fakultet, (dmilutinovic@ mas.bg.ac.rs)
207
Saa ivanovi, Nikola Slavkovi, Branko Kokotovi , Dragan Milutinovi
maine kada maina radi po zadatom programu, je irok i obuhvata kompletne modele
procesa obrade, nosee strukture, pogona, prenosnika, kinematikog podsistema itd.
[1]. To se sve integrie u jedinstveni sistem softvera, koji omoguava neki deo virtuelne
proizvodnje [2,3]. Ovakva istraivanja simulacije rada razliitih obradnih sistema na
Mainskom fakultetu u Beogradu su intenzivna i imaju dosta kompletiranih rezultata
kao to su: simulacija mini laboratorijske troosne maine sa paralelnom kinematikom
[4], simulacija dvoosnog erozimata sa icom [5], simulacija rada dvoosnog NU struga
[6], simulacija petoosne maine alatke [7], itd.
U ovom radu virtuelni rekonfigurabilni obradni sistem se bazira na virtuelnim
prototipovima petoosnih maina alatki iz klase rekonfigurabilnih maina alatki
razmatranih u radu [8] i obuhvata samo kinematiku simulaciju rada maine na bazi
zadatog programa u dva okruenja: CAD/CAM sistemu PTC Creo 2.0 [9] i STEP-NC
Machine [10].
Pod koncepcijom rekonfigurabilne maine alatke [11] ovde se podrazumeva
sistem sastavnih elemenata pomou kojeg se moe kompletirati vie razliitih maina,
pri emu je svaka od njih nova struktura. Predmet ovog rada su rekonfigurabilne
maine sa visokom kumulacijom namena i sa jednim ili dva vretena. Izmena alata nije
predmet ovih istraivanja, kao ni drugi elementi opreme ovakve maine, osim
neizostavnog sistema za programiranje. Rekonfigurabilni obradni sistem u ovom radu
se bazira na koncepcijama rekonfigurabilnih maina alatki, koje su tipini strugovi sa
obradom glodanjem i glodalica sa obradom struganjem. U prvom planu su
rekonfigurabilne maine tipa strugova sa obradom glodanjem, to se opravdava
statistiki eim osno simetrinim delovima u proizvodnim programima proizvoaa
raznih maina. Na taj nain se omoguava da se obrade struganjem i glodanjem
kompletiraju sa istim baziranjem na istoj maini, ime se postie kontinualnost obrade
uz dobar kvalitet.
2. KONCEPCIJE REKONFIGURABILNIH PETOOSNIH MAINA ALATKI

Radi lakeg sagledavanja razliitih koncepcija maina alatki pogodno je
iskoristiti neki od naina za opisivanje njihove strukture. Maine alatke se mogu
formalno opisivati klasinim strukturnim formulama, kao to je pokazano na slici 1. Na
osnovu opisa maine pomou strukturnih formula, moe se uspostaviti veliki broj
razliitih koncepcija, za koje se mogu konfigurisati inicijalne koncepcije za dalju analizu
i izbor najpovoljnijeg reenja prema nekom zadatom kriterijumu. Za ovaj rad su
izdvojene koncepcije maina koje mogu da pokrivaju razne grupe maina (GM1, GM2 i
GM3), slika 1.
Ovde se posmatraju samo petoosne glodalice sa serijskom kinematikom i to
tako da imaju tri translatorna i dva obrtna pomona kretanja. Po standardu su osnovna
obrtna pomona kretanja oznaena sa A, B i C. Prvo je oko ose X, drugo oko ose Y, a
tree oko ose Z. Petoosna maina ima dva od takva tri kretanja. Strukturne formule
dela skupa ovih glodalica date su na slici 1. U tim formulama je osnovna maina deo
mehanizma sa translatornim osama i nepokretnim lanom, koja se opisuje kao neka od
varijanti rasporeda osa OXYZ, XOYZ, XOZY, ..., u svim uzajamnim redosledima.
Obrtne ose pokreu ili samo alat, ili samo obradak, ili i alat i obradak. Po emi sa slike
1. moe se sastaviti mnogo strukturnih formula, posebno za horizontalne, posebno za
vertikalne maine.
208
Simulacija virtuelne rekonfigurabilne petoosne maine alatke kada maina radi po zadatom programu
W OM T W OM T W OM T
AB Nepokretni lan
- - AB A B
BA - - Nepokretni lan O i BA B Nepokretni lan O i A
O i ose X,Y,Z
ose X,Y,Z osnovne ose X,Y,Z osnovne
AC osnovne troosne - - AC A C
troosne maine su u troosne maine su u
CA maine su u - - svim uzajamnim CA C svim uzajamnim A
BC svim uzajamnim - - B B C
redosledima. redosledima.
redosledima.
CB - - CB C B
GM1: Grupa maina u kojima GM2: Grupa maina u kojima GM3: Grupa maina u kojima
obrtne ose pokreu samo obrtne ose pokreu samo alat. obrtne ose pokreu i alat i
obradak. Maine su Maine su horizontalne ili obradak. Maine su horizontalne
horizontalne ili vertikalne. vertikalne. ili vertikalne.
Legenda: W je obradak; OM je osnovni, troosni deo mehanizma-maine sa postoljem-nepokretnim

lanom O; T je alat,; A, B, C su obrtne ose; X,Y,Z su translatorne ose. Ako je maina horizontalna, onda
se nepokretni lan oznaava sa H, a sa V ako je vertikalna; GM1, GM2 i GM3 su grupe maina sa
slinom strukturnom formulom.
Slika 1. Opis petoosnih maina alatki pomou strukturnih formula
Polazne razmatrane koncepcije rekonfigurabilnih petoosnih maina su

pokazane na slici 2. Dodate su i oznake koordinatnih sistema maine, ali i osnovni
elementi njihove strukture. Dato je ukupno est razliitih varijanti strukture: S1, S2, S3,
S4, S5 i S6. Alternative za stubove za svaku mainu su pokazane ili kao Box in Box
(kao na slici 2a), ili kao stub (slika 2b,c,d,e,f). Analizom osnovnih komponenata maina
alatki, sa slike 2 uspostavljen je sistem sastavnih elemenata rekonfigurabilnog
hardvera, koji ini koncepciju maine, u vidu morfoloke matrice, to je pokazano u
radu [8]. Ovakav pristup omoguava efikasno konfigurisanje razliitih koncepcija, na
bazi zajednike baze modula i dobijanje virtuelnih prototipova za dalju analizu. U ovom
radu se razmatra simulacija kinematike maine kada radi po zadatom programu.
Svaka od maina je konfigurisana u CAD/CAM okruenju, sa odgovarajuim
kinematikim vezama pokretnih elemenata maine, to omoguava simulaciju rada
maine, koja radi po zadatom programu na konkretnim primerima.
Razvoj pokazanih rekonfigurabilnih petoosnih maina alatki za cilj ima sledee:
(i) razvoj niskobudetne stone maine alatke, (ii) iskoristiti napravljenu mainu i/ili
virtuelne prototipove za istraivanje i edukaciju, (iii) kompletirati upravljanje otvorene
arhitekture, (iv) mainu programirati pomou G-kda ili primenom STEP-NC programa,
(v) pripremiti adekvatna okruenja za programiranje na bazi G-kda i STEP-NC
standarda, (vi) pripremiti virtuelne prototipove maina za potrebe simulacija kada
maina radi po zadatom programu u oba pomenuta okruenja (CAD/CAM i STEP-NC).
209
Legenda: P: postolje; DOS: dvostruki obrtni sto; DSH: dvostruki obrtni sto horizontalne; GV: glodako
vreteno; SV: strugarsko vreteno; BB: postolje Box in Box, ST: stub; JSM: jednostruki sto multifunkcionalne;
Ost: obrtni sto, Ug:ugaonik, (OVG, OHG, OMF, OS): koordinatni sistemi vertikalne i horizontalne glodalice,
multifunkcionalne i strugarske maine; GVHG: glavno vreteno horizontalne; VDV: voice drugog vretena;
A,B,C: rotacije
Slika 2. Koncepcije rekonfigurabilnih petoosnih maina alatki
210
U Tabeli 1 navedeni su karakteristini primeri rekonfigurabilnih petoosnih

maina, pozivajui se na koncepcije date na slici 2.
Tabela 1. Tipine koncepcije rekonfigurabilnih i multifunkcionalnih maina alatki sa sl.2

R
Opis koncepcije Osobine Tipine namene
B
Vertikalna (Sl. 2a) sa nagibnim
Dobar prilaz alata obratku. Mala Mali delovi. Lopatice i
1 GV, osa B na alatu, osa A na
povrina osnove maine. Krutost. slini delovi.
obratku, GM3 sa slike 1
Vertikalna (Sl. 2b) sa nagibnim
Dobar prilaz alata obratku. Mala Mali delovi. Lopatice i
2 GV, osa B na alatu, osa A na
povrina osnove maine. slini delovi.
obratku, GM3 sa slike 1
Vertikalna (Sl. 2c) sa GVVG, ose B Mali delovi.
Dobar prilaz alata obratku. Mala Raznovrsni.
3 i C na obratku (DOS), GM1 sa
povrina osnove maine.
slike 1 U malim serijama.
Dovoljan radni prostor za prihvat
Horizontalna (Sl.2d) sa GVHG i Vei impeleri. Delovi sa
4 veih delova i viestranu obradu.
zadranim DOS, GM1 sa slike 1 obradom sa pet strana.
Krutost.
Horizontalna (Sl.2e) sa DSH i Brzohodne. Manja opasnost od Impeleri. Rotori turbina.
5 GVHG, sto na stolu, GM1 sa slike 1 kolizija u radu maine. Razni rezni alati.
Horizontalna (Sl.2f), sa osom A Delovi veih gabarita.
Vei i tei delovi. Dobre baze za
6 na alatu i osom C na obratku, sa ili
obradak.
Delovi sa tankim
bez ugonika, GM3 sa slike 1 zidovima.
3. SIMULACIJA RADA MAINE U CAD/CAM OKRUENJU

Simulacija rada maine primenom virtuelne maine je najbezbedniji i
najisplativiji nain verifikacije programa za vieosnu obradu. U ovom poglavlju je
pokazano izabrano okruenje za programiranje sa etiri izabrana virtuelna prototipa
na konkretnim primerima simulacije rada maina prema zadatom programu za obradu
jednog probnog dela, oblika ispupene kalote, slika 3. Sistem za programiranje je
uobiajeni i koristi CAD/CAM sistem PTC Creo [9]. U zavisnosti od izabrane
konfiguracije maine mogu se pripremiti i odgovarajui postprocesori za svaku od njih
korienjem konfiguratora postprocesora, ime se G-kd prilagoava formatu
konkretne izabrane maine.
Simulacija kinematike virtuelnog prototipa omoguava kretanje modeliranih
segmenata, sa alatom na kraju, koji na ekranu iscrtava putanju alata, koja je nastala
kao rezultat izvrenja zadatog programa u CLF formatu [6-10]. Na slici 4 je pokazana
koncepcija S3, sa vertikalnim poloajem glavnog vretena sa dve rotacije na obratku.
Za pripremu modela za simulaciju se koriste odgovarajue kinematike veze tipa
klizaa (Slider) za translatorna pomeranja po X,Y i Z osi za pomeranja osnovne
maine (OM) prema slici 1, dok se za rotacije obratka A i C, koriste obrtne kinematike
veze (Pin), slika 4a. Za uproeni koncepcijski model sa slike 4a, pripremljen je
virtuelni prototip sa izabranim komponentama za gradnju maine sa svim kinematikim
vezama, slika 4b. Koordinatni sistemi obratka MACH_ZERO i alata TOOL_POINT su
pokazani na slikama 4c,d,e, na elu glavnog vretena, na radnom stolu maine, obratku
i alatu. Pokretanjem simulacije rada maine opcijom Machine Play, zahvaljui
prethodno definisanim koordinatnim sistemima i njihovim poklapanjem, obradak se
postavlja na radni sto, a alat u glavno vreteno maine. Simulacija obrade za mainu sa
slike 4b je pokazana na slici 4f, za probni deo oblika kalote.
211
Slika 3. Sistem za programiranje sa simulacijom rada rekonfigurabilnih petoosnih

maina na bazi CLF-a u CAD/CAM okruenju
Slika 4. Kinematike veze, koordinatni sistemi i prikaz simulacije rada maine za jednu
varijantu maine
Primenjeni metodi za verifikaciju programa su: simulacija putanje alata,

simulacija uklanjanja materijala (NC Check) i simulacija rada maine po zadatom
212
programu na bazi putanje alata (CLF). Ova vrsta simulacije je vrlo interesantna kako
prilikom ravoja novih koncepcija maine i uvida u njen rad i eventualne kolizije, kada
ne postoji fiziki prototip, tako i za verifikaciju programa obrade u CAD/CAM okruenju.
4. SIMULACIJA RADA MAINE U STEP-NC MACHINE OKRUENJU

Simulacija rada razmatranih rekonfigurabilnih petoosnih maina je razmatrana i
u okruenju STEP-NC machine [10], koje podrava programiranje maina alatki na
bazi STEP-NC standarda, kao novog metoda programiranja, koji moemo nazvati i
objektnim. Kod ovog metoda programiranja pojedini tehnoloki primitivi, na delu koji
treba napraviti, predstavljaju objekte (Features) i ako se program za tu izradu
kompletira pomou tih objekata, ne pomou alfanumerikih tekstova, onda je takvo
programiranje nazvano objektnim. Meutim, klasina programiranja postoje jo uvek, a
i objektno programiranje do sada nije uvedeno u punom obimu 12. Ta dva metoda
egzistiraju uporedo.
Za pripremu uvoenja novog metoda programiranja primenom STEP-NC
standarda, takoe su konfigurisane i inegrisane virtuelne maine koje rade po
programu u STEP-NC formatu u okruenju softvera STEP-NC Machine. Za primer
maina S3 i S5 sa slike 2, pripremljeni su virtelni prototipovi koji mogu da rade u
okruenju STEP-NC Machine na osnovu STEP-NC programa, slika 5.
Slika 5. Rekonfigurabilne petoosne maine alatke u STEP-NC Machine okruenju
5. ZAKLJUCI
U radu je prikazan koncept razvoja jedne klase rekonfigurabilnih petoosnih
maina alatki, koja ukljuuje analizu konfigurisanih virtuelnih prototipova pri simulaciji
njihovog rada u okruenjima za programiranje. Razmatrana su dva takva okruenja i to
CAD/CAM i STEP-NC Machine.
U radu je dat formaliziam za opis konfiguracija razmatranih maina pomou
strukturnih formula. Za izabrane predstavnike razmatranih rekonfigurabilnih petoosnih
213
maina alatki, realizovana je simulacija rada maina po zadatom programu za

verifikaciju programa obrade i uoavanje eventualnih kolizija u toku obrade, kada se
maina programira na uobiajeni nain u CAD/CAM okruenju i kada se maina
programira novim metodom programiranja u okruenju STEP-NC Machine.
Istraivanja u oblasti rekonfigurabilnih maina alatki je znaajna za dalja
istraivanja u oblasti vieosne obrade i rekonfigurabilnih petoosnih maina, kao i za
edukaciju za programiranje, to je posebno znaajno za obrazovne ustanove, prilikom
sticanja znanja o kompleksnim rekonfigurabilnim vieosnim mainama.
ZAHVALNOST
Ovaj rad je nastao u okviru istraivanja na projektu TR35022 Razvoj nove
generacije domaih obradnih sistema, koji je podran od strane Ministarstva za
prosvetu, nauku i tehnoloki razvoj Vlade Republike Srbije.
LITERATURA
[1] Altintas, Y., Brecher, C., Weck, M., Witt, S. (2005). Virtual machine tool, CIRP
Annals - manufacturing technology, 54/2, p. 115-138.
[2] Ko, J. H., Yun, W. S., Kang, S. J., Cho, D. W., Ahn, K. G., Yun, S. H. (2003).
Development of a Virtual Machine Tool - Part 2: Dynamic Cutting Force Model,
Thermal Behavior Model, Feed Drive System Model, and Comprehensive Software
Environment, International Journal of the KSPE, 4/3, p. 42-47.
[3] Kadir, A. A., Xu, X., Hmmerle, E. (2011). Virtual machine tools and virtual
machining - A technological review, Robotics and Computer - Integrated
Manufacturing, 27, p. 494-508.
[4] Zivanovic, S., Glavonjic, M., Milutinovic, D. (2015). Configuring A Mini-Laboratory
and Desktop 3-Axis Parallel Kinematic Milling Machine, Strojniki vestnik - Journal
of Mechanical Engineering, 61/1, p. 33-42.
[5] Zivanovic, S., Puzovic, R. (2015). Off-line Programming and Simulation for 2-axis
Wire EDM, FME Transactions, 43/2, p. 138-143.
[6] ivanovi, S., Kokotovi, B., Jakovljevi, . (2015). Turning machine simulation for
program verification, Proceedings of the 12th International Scientific Conference
mma 2015 - Advanced Production Technologies, p. 157-160.
[7] Zivanovic, S., Kokotovic, B. (2015). Configuring a virtual desktop 5-axis machine
tool for machine simulation, Proceedings of the 12th International Conference on
Accomplisments in Electrical and Mechanical Engineering and Information
Technology DEMI 2015, p. 255-262.
[8] Glavonji M., ivanovi S., Kokotovi B. (2013). Konfigurisanje stonih petoosnih
maina alatki, TEHNIKA: asopis saveza inenjera i tehniara Srbije, 62/5, str
857-863.
[9] PTC Creo, http://www.ptc.com/cad/creo, pristupljeno 11.4.2016.
[10] STEP-NC Machine for CAM/CNC,
http://www.steptools.com/products/stepncmachine/, pristupljeno 11.4.2016.
[11] Koren Y., Heisel U., Jovane F., Moriwaki T., Pritschow G., Ulsoy G., Brussel H.V.
(1999). Reconfigurable Manufacturing Systems, Annals of the CIRP, 48/2, p. 527-
540.
[12] Glavonji M., ivanovi S. (2012). Protokol STEP-NC za programiranje numeriki
upravljanih maina alatki, TEHNIKA: asopis saveza inenjera i tehniara Srbije,
61/6 str. 937-942.
214
_____________________________________________________________________________
THERMAL MODEL OF HIGH SPEED MAIN SPINDLE

Aleksandar ivkovi1, Milan Zeljkovi2, Milo Kneev3
Abstract: In the last period a high-speed main spindles, by modern machine tools, are
used with basic goal - to increase efficiency. The prediction of thermal behavior of the
spindle is essential for machining precision. The main source of heat on the spindle
occurs due to friction torque on bearings with angular contact. The heat generated on
the bearings transfers to the spindle and surrounding air, thus causing the thermal
expansion of spindle elements. This paper presents a 3D FEM thermal model of the
main spindle with hybrid angular contact ball bearings.
Key words: angular contact ball bearings, FEM, main spindle, thermal behavior
1 INTRODUCTION
The development of technology in producing high speed machine tools can be
observed from the area of machine tool application [1]. The behavior of machine tools
while in exploitation is conditioned by the behavior of certain vital assemblies.
Especially significant are the spindle units, as the principle units of machine tools,
since they determine the accuracy and productivity [2]. Behavior of this assembly
during exploitation is conditioned by numerous parameters which can be grouped in
three groups [3]: a) conceptual, b) geometric and c) other significant parameters.
Within constructive and geometric parameters it is possible to consider an influence of
spindle, drive element and bearing support. Other significant parameters are: stiffness
and bearing dumping, temperature and limited speed. At high-speed spindle and
bearings rotations, a high heat amount is generated, and rotate elements (spindle,
inner bearing rings and other revolving assembly elements) present rotational masses
in system, which demands a precise cooling adjustment, lubrication and balancing. In
this paper, the finite element method is used to simulate the temperature distribution of
main spindle system. This model includes the major heat sources, the heat transfer
between spindle elements for a transient analysis of the thermal behavior.
1
Dr Aleksandar Zivkovi, assist. professor, Novi Sad, University of Novi Sad, Faculty of technical sciences,
(acoz@uns.ac.rs)
2
Dr Milan Zeljkovi, full professor, Novi Sad, University of Novi Sad, Faculty of technical sciences,
(milanz@uns.ac.rs)
3
M.sc. Milo Kneev, assistant, Novi Sad, University of Novi Sad, Faculty of technical sciences,
(knezev@uns.ac.rs)
215
Aleksandar ivkovi, Milan Zeljkovi, Milo Kneev
2 THERMAL FEM MODEL OF THE HIGH SPEED MAIN SPINDLE

The solid model of main spindle is built by using Inventor and the structure
such as thread hole, keyhole, chamfer, fillet and so on are simplified. This structure
has no effects on the analysis result. FEM model of the spindle has been importing to
ANSYS APDL. In defining the thermal model of the spindle: the spindle shaft, bearings
(rings and balls), and the housing, SOLID 87 element is used. Model consists of 31295
finite elements total. The finite elements CONTA 174 and TARGET170 were used to
simulate contact joints. To simulate contact joints, contact pairs have been created at
the joints, and the real constant TTC has been defined, i.e. the thermal contact
conductivity for each ball, as well as for each contact between the outer ring/housing
and inner ring/spindle shaft. The finite element thermal model is shown as Fig 1. Some
assumptions are made for the thermal analysis:
1. The spindle model is axisymmetrical and assumes a uniform clearance between the
outer ring and the housing around the entire perimeter.
2. The thermal resistance in the axial direction, as well as axial conduction between
contact elements is not considered.
3. Friction loss of the air is smaller than other heat sources, so it is neglected.
4. The heat radiation is neglected.
Figure 1. FEM model of the main spindle
2.1 Heat generation in the bearings

In analyzed model is assumed that the main heat sources in the assembly are
bearings, because the power transmission is enabling by wheeled belt, which is setup
on the spindle end, and its influence is discarded. The total frictional torque consists of
torque due to applied load, torque due to viscosity of lubricant and spinning friction
moment. The friction torque due to applied load and due to viscosity of lubricant at
each inner and outer contact with the raceway is formulated similarly as in [4]:
Qi ,o ( j )
1/ 3

M i ,o( j ) 0.675 f 0 b d m f1
2/3 3
Qi ,o( j ) db (1)
Qi ,o(max)

where are: f0 - a factor depending upon the type of bearing and method of lubrication;
f1 - factor depending upon bearing design and relative load, -kinematic viscosity of
lubricate, db - the diameter of the roller, Qi and Qo - contact loads at inner and outer
raceways respectively, b - angular velocity of the ball and Qmax - maximum contact
load.
216
Thermal model of high-speed main spindle
The order component of heat generation within the bearing is the spinning friction
moment, which is formulated for every contact with the inner and outer raceway, based
on [5]:
3 Qi ,o ( j ) ai ,o ( j ) E '
M S ,i , o ( j ) (2)
8
where is friction coefficient and a is semi-major axis of the contact area.
The total heat generated on the inner and outer raceway can be obtained as the sum
of heat generated for each ball as [6]:
Z Z
H i ,o ( j )
j 1
b M i ,o ( j ) j 1
s ,i ,o ( j ) M S ,i ,o ( j ) (3)
2.2 Convection Boundary Condition

Heat transfer coefficient at spindle rotation, assumed that the temperature
difference is minor, can be calculated from the next equation, under condition that the
forced convection is considered:
hv Nu ka / dv (4)
where ka is the heat conductivity of fluids (air), N u is Nusselt's number and dv is the
diameter of the spindle nose. In case of annular gap of the spindle, d v changes to the
size of gap gap. The detailed determinate of the Nusselt's number is available in [6,7].
2.3 Conduction between balls and raceways

The thermal contact conductance between balls and raceways is obtained
empirically in function of the rotation speed [8]:
Z 14 2 ln v 2 ln db d b2
hb (5)
2400
n d m db
v (5a)
19099
The thermal resistance is obtained as [9]:
d
Rb b (6)
hb A
where A is contact area between ball and raceway.
2.4 Conduction between rings and spindle/housing

Since the ring thickness is not a section constant, the ring width can be divided
into five parts based on the cross-section, as shown in Fig. 2. Heat resistance between
the bearing inner ring and the spindle shaft and outer ring and the housing is
determined by using the relation for cylinder heat resistance [10]:
ln( Rm(i ,o ) / Rn (i ,o ) )
Ri ,o (7)
2 Ll (i ,o ) k
where Rn(i,o) and Rm(i,o) are the inner and outer section radii which are observed in the
inner or outer bearing ring according to Fig. 2, and Ll(i,o) the length according to the
inner and outer section (Fig. 2). Heat conductivity (k) for steel is 46.6 W/m-K and it is
valid for 20-200 C [11].
217
Hausing
Rmo
I II III
Rno
Rno
Rno
Rmi
IV IV
Rmi
V
Spindle
Rno
Figure 2. Conduction model of the bearing

The analysis of thermal characteristics of the spindle includes stationary and
non-stationary temperature change for different rotation speeds. Figure 3 predicts the
temperature distribution of the spindle for rotation speed of 6000 rpm and reference
temperature of 22 C is shown.
Figure 3. Temperature distribution of the spindle for 6000 rpm
The temperature of the front bearings is much higher than that of the rear. The
maximum temperature occurs on the outer ring of the front bearing. This happens
mostly because the higher generated heat and higher load occur on the front bearings.
As the front 1bearings are very near to the top of the spindle (small
ANSYS 7.0 length of the spindle
top) heat, from the bearing in axial and radial direction, isJANtransferred
24 2005 to the top of the
15:15:55
spindle. ELEMENT SOLUTION
STEP=1
SUB =11
TIME=7200
TEMP (NOAVG)
SMN =58.03
MX SMX =59.297
MN
58.03
58.171
58.312
58.452
58.593
58.734
58.875
59.015
59.156
Y
Z 59.297
X
ANSYS Analysis
Figure 4. Temperature distribution of front bearing at 6000 rpm
218
Thermal model of high-speed main spindle
Figure 5 shows the simulated temperatures on the front bearing, housing, and
spindle nose during time, for characteristic points in Figure 3. Unlike the temperature of
the front bearing, the temperatures in other observed places increase slowly in the
initial phase and rapidly in the later phase, until they reach stationary state. Their
growth in time takes longer than on the bearings. Essentially, it is important to mention
that the increase of temperature for observed places follows the same trend, but in
different times of reaching the stationary state.
70
T4
60 T1
Temperature (C)
50 T6
40
T3
30
20
10
0 20 40 60 80
Time (min)
Figure 5. The temperature changes with time at the selected points for 6000 rpm
In table 1 is shows the comparison between simulation and measured

temperatures difference for stationary temperature state for different rotational speed
Table 1. Comparison of the simulated to the measured temperature

Simulation Experimental
rpm T1 T2 T3 T1 T2 T3
2000 45.2 42.6 29.4 48.1 43.2 28.2
4000 49.8 47.3 32.3 57.5 56.7 31.2
6000 59.2 59.1 35.6 67.3 63.4 32.4
The maximum difference from 2 to 10 % in stationary state, depending on the

number of revolutions, is acceptable, especially since the suggested model does not
consider the effects of bearing elements' change in dimensions. These changes affect
the accuracy of several parameters, such as contact resistance, forced convection and
generated heat in the bearing.
4 CONCLUSION
This paper discussed the mathematical model for predicting the spindle's
temperature distribution in steady-state and non steady-state. This model can be
separated into two sub-models: the heat generated model, and the model of the
spindle. In this paper, the thermal model of the spindle was created by using the finite
element approach. This approach was chosen because of its major advantage, which
is that heat conduction can be easily integrated with complex geometries and physical
conditions, especially for any further analyses of the influence of temperature on static
219
and dynamic behaviour of the spindle. On the other hand this paper presents an
analytic method for calculating the heat generated on the bearing, based on the
internal distribution of load. Additionally, the simulation errors of the temperature fields
are less than 10%, which in turn confirms the effectiveness of the simulated model
proposed in this paper.
ACKNOWLEDGMENT
In this paper some results of the project: Contemporary approaches to the
development of special solutions related to bearing supports in mechanical engineering
and medical prosthetics TR 35025, carried out by the Faculty of Technical Sciences,
University of Novi Sad, Serbia, are presented. The project is supported by the Ministry
of Science and Technological Development of the Republic of Serbia.
REFERENCES
[1] Abele, E., Altintas, Y., Brecher, C. (2010). Machine tool spindle units, CIRP
Annals - Manufacturing Technology, 59 (2), p.p. 781-802.
[2] Zverev, I.A., Eun, I.U., Chung, W.J., Lee, C.M. (2003). Simulation of Spindle Units
Running on Rolling Bearings, International Journal of Advanced Manufacturing
Technology, 21 (10-11), p.p. 889-895
[3] Zeljkovi, M. (1996). Sistem za automatizovano projektovanje i predikciju
ponaanja sklopa glavnog vretena maina alatki, Doktorska disertacija, Fakultet
tehnikih nauka, Novi Sad.
[4] Li. H., Shin, Y.C. (2004). Integrated dynamic thermo-mechanical modeling of high-
speed spindles, part 1: Model development, Journal of Manufacturing Science and
Engineering, Transactions of the ASME, 126 (1), p.p. 148-158
[5] Harris, T. A., Michael., N. K. (2007). Rolling bearing analysis: Advanced Concepts
of Bearing Technology, Taylor & Francis Group.
[6] Zivkovic, A. (2013). Raunarska i eksperimentalna analiza ponaanja kuglinih
leaja za specijalne namene, Doktorska disertacija, Fakultet tehnikih nauka, Novi
Sad.
[7] Zivkovic, A., Zeljkovic, M. Tabakovic, S., Milojevic, Z. (2015). Mathematical
modeling and experimental testing of high-speed spindle behavior, International
Journal of Advanced Manufacturing Technology, 77, p.p. 1071-1086
[8] Uhlmann, E., Hu, J. (2012). Thermal Modelling of a High-speed Motor Spindle,
Procedia CIRP, 1 (0), p.p. 313-318.
[9] Kim, S.M., Lee, S.K. (2001). Prediction of thermo-elastic behavior in a spindle-
bearing system considering bearing surroundings, International Journal of
Machine Tools and Manufacture, 41 (6), p.p. 809-831
[10] Incropera, F.P., Lavine. A.S., DeWitt, D.P. (2011). Fundamentals of heat and
mass transfer, John Wiley & Sons.
[11] Yovanovich, M.M. (1971). Thermal constriction resistance between contacting
metallic paraboloids: Application to instrument bearings. AIAA Progress in
Astronautics and Aeronautics: Heat Transfer and Spacecraft Control 24, p.p. 337-
358
220
_____________________________________________________________________________
INFLUENCE OF TOOL WEAR ON THE CHIPS SEGMENTATION AND

VIBRATIONS SIGNAL IN TURNING PROCESS
Aco Anti1, Milan Zeljkovi2, Dejan Luki3
Abstract: This paper presents a research based on the assumption that a relationship
between the spectrum of high-frequency vibrations measured on tool shank, in
immediate vicinity of the cutting zone, and the tool wear degree exists. The wear
causes changes in tool tip geometry, which has a significant influence on the process
of chip forming. At the same time, the erratic nature of chip forming process generates
a very broad spectrum of vibrations. This vibrations signal is important of early wear
detection and we describe the principal trends. Firstly, we described the principal
trends presented by researchers in the field of chip forming and afterwards, that
investigation of the correlation between vibrations signal has been detected.
Key words: Tool Wear, Vibrations, Chip forming, Turning
1 INTRODUCTION)
Using various approaches, a number of researchers have dealt with the
influence of machining conditions on chip morphology during machining of tempered
steel. One of the approaches involves macroscopic and microscopic analysis of chip
morphology, allowing insight into various information, including mechanism of chip
generation. Chip forming mechanism and morphology are important characteristics of
machining which contains crucial information on the cutting process itself.
Dolinsek et al. [1] studied the chip forming mechanism, and microscopic
geometry of chip cross section at high-speed machining of steel (50 m/min to 1500
m/min). The study examined: frequency of chip segmentation, dimensions of deformed
and undeformed chip segments, as well as their form. Morehead et al. [2] investigated
the influences of various machining regimes on the shape of the generated chip in hard
materials. In their analysis they included a tool wear degree and an interaction
between vibration amplitudes, cutting speed, and feed.
1 Assoc. Prof. Dr.Sc., Aco Antic, University of Novi Sad, Faculty of Technical Sciences,Trg D. Obradovica 6.,
21000 Novi Sad,Serbia, antica@uns.ac.rs
2 Prof. Dr.Sc., Milan Zeljkovic, University of Novi Sad, Faculty of Technical Sciences,Trg D. Obradovica 6.,
21000 Novi Sad,Serbia, milanz@uns.ac.rs

3 Assist.Prof. Dr.Sc., Dejan Lukic, University of Novi Sad, Faculty of Technical Sciences,Trg D. Obradovica
6., 21000 Novi Sad,Serbia, lukicd@uns.ac.rs
221
Aco Anti, Milan Zeljkovi, Dejan Luki
Dutta et al. [3] dealt with the influence of selected composite tool material on
the macroscopic shape of the formed chip. In addition, they examined the variation of
the chip shape and tool wear as the function of cutting parameters. Chip morphology
significantly influences thermo-mechanical characteristics in the tool/workpiece system,
which directly impacts a tool life. Barry and Byrne [4] applied a quick stop test acoustic
emission sensor (AE) to identify generation mechanism and type of chip generated in
machining of two different material types. A combination of AE and force sensors was
used by Barry et al. [5] to identify generation mechanism, morphology, and shape of
the chip. In both of the studies the authors concluded that lamellae shear, i.e., forming
of either continuous or discontinuous chip, generates dominant sources of elastic strain
energy which, by themselves, represent sources of acoustic emission. Beside the
indirect methods, Cotterell and Byrne [6] used high resolution cameras with high
sampling frequencies to detect the character of the chip formed at production cutting
speeds. Formation and spreading of cracks from the free chip surface towards the tool
rake surface, forming mechanism of serrated chips, as well as the stress and strain
phenomena related to thermoplastic instability were considered by Vyas and Shaw [7].
Zhang et al. [8] in his research, investigated formation of the saw-tooth chips in
association with the fluctuation of the cutting force components under different cutting
parameters in turning of Inconel 718 with (Ti, Al)N/TiN coated cutting tools under dry
cutting condition. Authors observed with the scanning electron microscopy (SEM), the
saw-tooth chips which directly cause the cutting force components to fluctuate.
Segmented chip involves lamellae shear which, in turn, generates vibrations and
acoustic emission in the machining of various types of steel. Serrated chip shape
obstructs removal during machining, thus playing an important role in tool wear
mechanism. Differences between coated and uncoated carbide tools is widely studied
and simulated [9]. The process of chip forming and chip classification was observed
from various aspects: microstructure of material, cutting speed, feed rate, depth of cut,
shear angle, etc. The mechanism of chip forming at high cutting speeds differs from
that of conventional machining [10]. Abrasive wear on tool rake surface causes severe
plastic deformations of material, as well as the formation of serrated chip, as reported
by Zheng et al. [11].
2 EXPERIMENTAL AND METHODOLOGY
2.1 Experimental setup

The experiments of longitudinal turning were conducted in order to investigate
tool wear (type of wear, wear mechanism, tool life, wear band), and its influence on
tool vibrations. Sensor placement on tool shank and workpiece dimensions in this
experiment is shown in Fig. 1. Experimental machining was performed on a CNC lathe,
INDEX GU 600. Cutting speed varied between 180 and 250 m/min, feed ranged from
0.1 to 0.3 mm/rev. Dimension of tool shank were during experiment 25x25 mm, while
the insert tip was P25, TNMM 220408. Accelerometer Kistler 8002 was fixed onto the
tool holder, and used to measure acceleration of vibrations. This signal was sampled at
625 kHz, using A/D converter NI 625 USB, National Instruments. Workpiece material
was 42CrMo4, 250HB hardness.
After machining in the length of 500 mm, the cutting process was stopped, tool
insert was removed from tool holder, and wear band (VB), and wear crater (KT) were
measured. Assessment of chip morphology was done by an examination on an optical
microscope. During the experiment, vibration accelerations were measured at each
cutting pass, for the duration of 1s.
222
Influence of tool wear on the chips segmentation and vibrations signal in turning process
Fig. 1 Experiment setup
2.2 Types of segmentation

In the process of machining with a rigidly fixed tool, continuous chip is formed
without the dominant model of oscillation, in which: stress, shear, shear rate, and
temperature profile remain constant in time, Fig. 2(a). Discontinuous or segmented
chip is characterized by an oscillating profile with prominent lamellae tips at the free
end, Fig. 2(b). Chip type and method of generation, as well as the method of chip
evacuation over rake surface influence important machining process parameters such
as tool life and workpiece surface quality.
Fig. 2 Types of chip formation and segmentation, a) continuous chip without segments,
b) segmented chip with a clear separation of the segments
2.3 Tool wear process and chip segmentation

Tool wear mechanisms have various impacts on a tool. One of the most
important impacts is on the tool rake surface, which changes the tool wear shown on
Fig. 3. This is directly related to the mechanism of chip forming and its form. In most
cases, the chip which is generated during machining of hard and tempered materials is
continuous or discontinuous, with prominent edges on the free chip surface.
Development of wear on tool rake surface appears approximately after 1/3 of
the tool life period. After the penetration of chip lamellae into the base material of tool
insert it begins to intensify. The crater which appears weakens the cutting edge, and in
conjunction with high temperatures leads to breakage of a tool insert tip. The growth of
223
the crater on the tool rake surface has an important influence on the mechanism of
chip forming, as well as on the frequency of chip segmentation and its form.
Fig. 3 Cutting tool inserts, a) starting tool wear, b) finished tool wear

Microscopic analysis of chip cross section geometry allows one to establish a
direct relationship between the mechanism of chip forming and tool wear degree.
Direct microscopic analysis also allows evaluation of the influence of a number of other
parameters which influence the chip form, as well as the chip segmentation
mechanism.
3.1 Microscopic analysis of chip and vibration signal processing

The progression of flank wear VB was monitored by tool microscope
measurements in regular time intervals. The diagram of flank wear which changes for
two different cutting speeds is shown in Fig. 4. The images of a tool insert tip were
obtained on an electronic microscope.
Fig. 4 Progression of flank wear at cutting speeds 180 m/min and 250 m/min,
with same cutting conditions
224
Shown in Fig. 5 is the morphology of a free chip surface which was generated
during machining by a fresh and worn tool insert at predefined machining conditions.
Fig. 5(a) shows free chip surface which is smooth, and without pronounced lamellae
generated by shear, while in Fig. 6(a) the shear is clearly visible.
Fig. 5 Free chip surface machining with new tool insert: a) free chip surface at 50x
magnification on SEM, b) free chip surface at 1000x magnification on SEM
Under a 1000x microscopic magnification, shown in Fig. 5(b) and 6(b), the
difference is even more visible. Fig. 5(b) shows the chip type generated by a new tool
insert, with the dominant continuous form, without pronounced discontinuous pattern.
Fig. 6(b) shows the chip generated by the worn tool insert, where, in contrast to the
new tool insert case, the chip generation mechanism features thermal softening, and a
pronounced shear in the primary cutting zone.
Fig. 6 Free chip surface machining with worn tool insert: a) free chip surface at 50x
magnification on SEM, b) free chip surface at 1000x magnification on SEM
Such conclusion is supported by Fig. 7 which shows the cross section of chips
generated by new and worn tool inserts. Speaking of a single chip segment, its
geometric features are length of undeformed surface, and shear angle (). Shear angle
is measured in the longitudinal cross-section of the chip on SEM. The premise is
correct that the shear inside the segments is parallel to the lines of the localized shear.
The shear angle was statistically evaluated over 15sample segments for measured
225
value. It appeared that shear angle were correlated well, and slightly decreases with
the tool wear as can be seen in Fig. 7.
The cross section of the chip has shown in Fig. 7(a) features periodic initiations
of segmentation, while the formed segments are irregular in shape. The free surface of
chip exhibits undeformed surfaces of small and irregular heights, with small interstices
and sporadic shear initiations, which are also visible in Fig. 7(a).
Fig. 7 Chip cross section formed at the cutting process: a) new tool insert,
b) worn tool insert
3.2 Correlation of power spectra density vibrations signals with a tool wear
Considering the power spectra density for several measurements with different
tool wear degrees, there is a visible change in the spectrum, as shown in Fig. 8 and
Fig. 9. It is obvious that, at higher frequencies (over 5 kHz) the influence of the tool
insert degree of wear has more influence on the spectral composition than at the lower
frequencies. The peaks at lower frequencies, especially up to 2 kHz, are pronounced
and stable, which means that they originate from the machine tool, and not from the
machining process.
Fig. 8 PSD and chip segmentation with a new tool insert
226
Fig. 9 PSD and chip segmentation with a worn tool insert
This justifies the approach which is based on using the higher part of the
spectrum to define the state of tool wedge, i.e. to define the state of tool wear during
machining. At higher frequencies, from 50 to 500 kHz, one should expect an even
more pronounced dependence between tool geometry state, and the frequency
response of the machining system.
The analysis of results from the images clearly reveals the change of PSD at
higher frequencies, which indicates that tool wear, i.e., the change in tool wedge
geometry, suppresses the peaks at higher frequencies, and boosts signal strength.
The spectral leakage around the peaks at characteristic frequencies is significantly
higher for the worn tool insert, which indicates significant changes in the process of
chip formation.
4 CONCLUSIONS
The results of microscopic analysis of chip segments indicate strong correlation
between the mechanism of chip formation, chip morphology, and tool wear degree.
Moreover, it has been established that, at constant cutting parameters, the progression
of tool wear influences the form and type of chip segmentation, from the continuous to
the discontinuous chip which is generated by lamellar shear in the primary cutting
zone.
The measurements of vibrations on the tool shank in the vicinity of the primary
cutting zone, and calculation of PSD, revealed correlation between the tool wear
degree, and the mechanism of chip formation and chip morphology.
Variations in PSD signal measured on the tool shank in the vicinity of the
primary cutting zone are caused by the changes in the chip formation mechanism.
These changes are caused by the progression in tool wear which was directly
confirmed by SEM analyses of chip cross section.
227
ACKNOWLEDGEMENT
This paper is part of research on the projects on technological development
financed by the Ministry of Education and Science of the Republic of Serbia - Grants
No TR35025. Faculty of Technical Sciences, University of Novi Sad.
REFERENCES
[1] Dolinsek, M., Ekinovic, S., Kopac, J. (2004). A contribution to the understanding of
chip formation mechanism in high-speed cutting of hardened steel, Journal of
Materials Processing Technology, vol. 157158, p.p. 485490.
[2] Morehead, M.D., Huang, Y., Luo, J. (2007). Chip Morphology Characterization and
Modelling in Machining Hardened 52100 Steels, Machining Science and
Technology, vol. 11, p.p. 335354.
[3] Dutta, A.K., Chattopadhyaya, A.B., Rayc, K.K. (2006). Progressive flank wear and
machining performance of silver toughened alumina cutting tool inserts, Wear, vol.
261, p.p. 885895.
[4] Barry, J., Byrne, G. (2002).Chip Formation, Acoustic Emission and Surface White
Layers in Hard Machining, Annals of the CIRP, vol. 51, no. 1, p.p. 65-70.
[5] [5] Barry, J., Byrne, G., Lennon, D. (2001). Observations on chip formation and
acoustic emission in machining Ti6Al4V alloy, International Journal of Machine
Tools & Manufacture, vol. 41, no. 7, p.p. 10551070.
[6] Cotterell, M., Byrne, G. (2008). Dynamics of chip formation during orthogonal
cutting of titanium alloy Ti6Al4V, CIRP Annals - Manufacturing Technology, Vol.
57, No. 1, 9396.doi:10.1016/j.cirp.2008.03.007.
[7] Vyas, A., Shaw, M.C.(1999). Mechanics of Saw-Tooth Chip Formation in Metal
Cutting, Journal of Manufacturing Science and Engineering, vol. 121, no. 2, p.p.
163-172.
[8] Zhang, S., Li, J., Zhu, X., Lv, H. (2013). Saw-Tooth Chip Formation and Its Effect
on Cutting Force Fluctuation in Turning of Inconel 718, International Journal of
Precision Engineering and Manufacturing, vol. 14, no. 6, p.p. 957-963.
[9] Yanda, H., Ghani, J.A., Rizal M., Che Haron C.H. (2015). Performance of
Uncoated and Coated Carbide Tools in Turning FCD700 Using FEM Simulation,
Int. Journal of Simulation Modelling, vol. 14, no. 3, p.p. 416-425.
[10] Daymi, A., Boujelbene, M., Ben Salem, S., Hadjsassi, B., Torbaty, S. (2009). Effect
of the cutting speed on the chip morphology and the cutting forces, Archives of
Computational Materials Science and Surface Engineering, vol. 1, no.2, p.p. 77-83.
[11] Zheng, G., Zhao, J., Gao, Z., Cao, Q. (2012). Cutting performance and wear
mechanisms of SialonSi3N4 graded nano-composite ceramic cutting tools,
International Journal of Advanced Manufacturing Technology, vol. 58, p.p. 19-28.
228
_____________________________________________________________________________
EKSPERIMENTALNA IDENTIFIKACIJA UTICAJA GEOMETRIJE

ALATA NA BONO RAZARANJE MATERIJALA KOD MIKRO
REZANJA MERMERA
Milo Pjevi1, Ljubodrag Tanovi2, Vladan osovi3
Rezime: Rad predstavlja eksperimentalnu analizu kod mikrorezanja mermera. Kod

obrade krtih materijala na bazi kamena, mogue je postii obradu materijala u
duktilnom reimu, ime se izbegava nekontrolisano razaranje materijala. Ukoliko se
deo obrauje u reimu krtog loma, postavlja se pitanje kako geometrijala alata utie na
intenzitet bonog razaranja, i da li je mogue izbei ili smanjiti, to je ujedno i tema
ovog rada.
Kljune rijei: geometrija alata, krti materijali, mikro rezanje, optimizacija procesa
EXPERIMENTAL IDENTIFICATION OF THE INFLUENCE OF TOOL GEOMETRY

ON THE LATERAL AND RADIAL CRACK GROWTH DURING MICRO CUTTING OF
MARBLE
Abstract: This paper presents an experimental analysis of micro cutting of marble. In
the machining of brittle materials based on stone, it is possible to achieve the cutting of
materials in the ductile mode, thus avoiding the uncontrolled destruction of the
material. If a part is machined in the regime of brittle fracture, the question is how tools
geometry affect the intensity of the lateral and radial cracks, and whether it can be
avoided or reduced, which is also the theme of this work.
Key words: tool geometry, brittle materials, micro cutting, process optimization
1 UVOD
Fenomeni koji se javljaju u zoni rezanja tokom procesa mikro obrade krtih
materijala jo uvek predstavljaju enigmu. Postoje razliiti pristupi u predstavljanju
1 Asistent, mast. in. ma, Milo Pjevi, Univerzitet u Beogradu, Mainski fakultet, Katedra za proizvodno
mainstvo, Beograd, Srbija, mpjevic@mas.bg.ac.rs
2 Prof. dr Ljubodrag Tanovi, Univerzitet u Beogradu, Mainski fakultet, Katedra za proizvodno mainstvo,
Beograd, Srbija, itanovic@mas.bg.ac.rs

3 Vii nauni saradnik Dr Vladan osovi, Univerzitet u Beogradu, Institut za hemiju, tehnologiju i
metalurgiju, Beograd, Srbija, vlada@tmf.bg.ac.rs

229
Milo Pjevi, Ljubodrag Tanovi, Vladan osovi
mehanizma mikro rezanja krtih materijala. Dosadanja istraivanja ih svrstavaju u tri

pravca:
1. Uticaj naina dejstva sila.
Uticajem dejstva sila kod statikog utiskivanja bavili su se Lawn i Swain [1] gde su
utvrdili zavisnost izmeu duine prslina koje nastaju unutar materijala i vrednosti sile
utiskivanja. Ueda i ostali [2] primenili su J-integral kako bi objasnili mehanizam koji se
javlja u toku plastinog reima mikro rezanja. Tan i ostali [3] koristili su metod konanih
elemenata kako bi utvrdili vrednosti duina prslina u zavisnosti od dubine mikro rezanja
prilikom obrade aluminijum-oksidne keramike (Al2O3). U ovom eksperimentu su
ustanovili da sa poveanjem dubine nastaje i poveanje intenziteta prslina unutar
materijala.
2. Uticaj putanje alata.
Istraivanjem mikro rezanja sa vibracionim kretanjem alata, dolo se do zakljuka da
se ne samo poveava radni vek samog alata (Zhou i saradnici [4], Suzuki i saradnici
[5]), ve i da se kritina dubina prodiranja poveava u odnosu na konvencionalno mikro
rezanje (Liang i ostali [6], Nath i saradnici [7]).
3. Uticaj geometrije alata.
Geometrija alata ima vanu ulogu prilikom uklanjanja materijala kod mikro rezanja.
Razliite vrednosti radijusa zaobljenja alata pri istim uslovima mikro rezanja mogu
izazvati razliita naponska stanja unutar materijala koja, ili dovode do plastinog
teenja materijala, ili do nastanka nekontrolisanog rasta prslina unutar istog
(Venkatachalam i ostali [8]).
U pregledu literature primeeno je da se niko od istraivaa nije fokusirao na
zavisnost intenziteta bonog razaranja u odnosu na geometriju alata prilikom procesa
mikro rezanja mermera. Ovaj rad obuhvata objanjenje predloenog modela
mehanizma mikro rezanja, kao i eksperimentalnu analizu pomenute zavisnosti.
2 MODEL PROCESA MIKRO REZANJA

Pri mikro rezanju krtih materijala, proces odvajanja materijala je sloeniji u
odnosu na proces prisutan kod makro rezanja materijala sa izraenim plastinim
svojstvima. Odvajanje materijala nije mogue prepisati stvaranju strugotine usled
smiuih napona. Zapravo, tokom mikro rezanja krtih materijala, u zoni rezanja
mogue je uoiti dve razliite faze obrade. Prva je reim plastinog deformisanja, a
druga reim krtog loma.
Od poetka interakcije izmeu alata i obratka, pa sve do neke kritine vrednosti
dubine rezanja 'aC, nije prisutno odvajanje materijala i re je o reimu plastinog
deformisanja. Kada se pristupi analizi geometrije alata, ne sme se zanemariti injenica
da se kod mikro rezanja alat moe smatrati zatupljenim (sa zaobljenjem vrha). Usled
zaobljenja vrha, vrednost grudnog ugla je promenljiva u funkciji od dubine rezanja i
radijusa zaobljenja. Opseg vrednosti efektivnog grudnog ugla kree se u granicama
izrazitno negativnih vrednosti koje mogu biti i do -85. Ovakve vrednosti grudnog ugla
izazivaju naponsko stanje povienog pritiska unutar materijala, usled ega je prisutan
fenomen povratnih elastinih i plastinih deformacija.
Sa porastom dubine rezanja 'a preko kritine vrednosti 'aC, dolazi do promene
efektivne vrednosti grudnog ugla usled koje se smanjuju pritisni naponi unutar
materijala. Promena naponskog stanja dovodi do porasta faktora intenziteta napona
iznad kritine vrednosti. Na ovaj nain se stvara uslov za inicijalizaciju i nekontrolisani
rast prslina unutar materijala, prema slinom modelu koje je predstavio Orowan [9].
230
Eksperimentalna identifikacija uticaja geometrije alata na bono razaranje materijala kod mikro
rezanja mermera
Upravo zahvaljujui prslinama, dolazi do odvajanja materijala u vidu odlomaka u

reimu krtog loma.
Prsline koje se javljaju unutar materijala mogu se svrstati u tri grupe. U prvu
spadaju medijalne prsline koji imaju trend rasta vertikalno unutar materijala. Njihova
pojava prisutna je i ispred samog vrha alata. Zatim slede radijalne prsline koje se kreu
od ivice formiranog ljeba sa trendom rasta od njega. U odnosu na pravac kretanja
alata, redialne prsline su pod odreenim uglom, a nastaju usled pojave zateuih
napona. Lateralne prsline imaju tendenciju rasta od korena ljeba ka povrini obratka.
Slika 1. ematski prikaz a) naponskog stanja unutar materijala koji dovodi do reima
plastinog deformisanja, b) reima krtog loma i c) sistema prslina unutar materijala.
Intenzitet bonog razaranja materijala takoe se moe povezati sa radijusom

alata. Moe se oekivati da e pri obradi alatom veeg radijusa u reimu krtog loma,
intenzitet bonog razaranja biti vei. Objanjenje se nalazi u tome to je popreni
presek zahvaenog materijala vei, pa samim tim i smiui naponi u lateralnom
pravcu.
3 EKSPERIMENTALNA POSTAVKA
Tokom eksperimenta, proces mikro rezanja izveden je na obradnom centru ILR
HMC-500. Postavljanje i stezanje prizmatinog pripremka na radni sto maine ostvaren
je preko dinamometra i specijalnog pomonog pribora. Specijalni pomoni pribor za
funkciju ima stezanje dela i obezbeivanje potrebnog ugla nagiba ', kojim se definie
promena dubine obrade u svakom novom prolazu (slika 2).
Alat u vidu dijamantskog vrha, postavljen je na rotacioni disk. Rotacioni disk
ostvarije glavno obrtno kretanje definisanog broja obrtaja 'n i pomono pravolinijsko
kretanje brzinom Vw. Ovakvim kretanjem ostvaruje se sloeno kretanje dijamantskog
231
vrha (zavojno), ime je omogueno ostvariti vie prolaza na jednoj povrini. U toku
eksperimenta koriena su tri dijamantska vrha sa razliitom geometrijom, odnosno
razliitim radijusom zaobljenja vrha (R0.2, R0.15, R0.06).
Slika 2. Eksperimentalna postavka.
Brzina rezanja koju ostvaruje alat usvojena je prema preporukama koje se

koriste za obradu mermera, a koje se kreu u granicama Vs=1030 m/s.
Nakon zavrene obrade, sve obraene povrine su skenirane uz pomo
mikroskopa LEICA DM ILM, kako bi se utvrdio uticaj geometrije (radijusa) alata na
bono razaranje materijala.
4 ANALIZA REZULTATA
Intenzitet bonog razaranja odreen je osmatranjem obraenih povrina. Na
slikama 3, 4 i 5, prikazani su ljebovi koji su obraeni alatima radijusa R0.2, R0.15,
R0.06, retrospektivno.
Na slici 3a (alat R0.2 mm), u toku reima plastinog deformisanja nije prisutno
bono razaranje materijala. Sa druge strane na slici 3b se mogu uoiti blagi tragovi
krzanja obraene povrine ispred samog prelaza iz plastinog u reim krtog loma. U
reimu krtog loma jasno je uoljivo prisustvo bonog razaranja materijala, gde je,
zapravo, formirani ljeb vee zapremine od idealnog traga koji bi stvario alat. U ovom
eksperimentu, pri obradi alatom R0.2 mm, izmerene duine bonog razaranja kreu se
u rasponu od 0.11 do 0.27 mm.
232
rezanja mermera
(a) (b)
Slika 3. Izgledi ljebova generisanih uz pomo alata radijusa R0.2 mm.
Sa smanjenjem radijusa alata sa R0.2 mm na R0.15 mm, ostvareno je i

smanjenje intenziteta bonog razaranja, koje se u ovom sluaju kree od 0.05 od 0.19
mm (slika 4). Na slikama 4a i 4b, bono razaranje uoljivo je samo u toku reima krtog
loma.
(a) (b)
Tokom izvoenja ovog eksperimenta alat sa najmanjim radijusom koji je

korien bio je radijusa R0.06 mm. Na slici 5 prikazani su ljebovi formirani ovim
alatom. Lako se dolazi do zakljuka da je intenzitet prslina znatno manji od prethodna
dva alata, a kree se od nekoliko m pa do 0.09 mm.
Analizom svih sumiranih rezultata sa dijagrama na slici 6, moe se rei da je
porast duine bonih prslina/razaranja povezan sa porastom vrednosti radijusa alata.
Ona nije linearna, ve je primetan blagi rast u odnosu na vrednost radijusa alata.
Iako su bona razaranja manja prilikom korienja alata sa manjim radijusom
vrha, gledano proporcionalno u odnosu na vrednosti radijusa, u sluaju kada je
korien alat R0.06 vea su nego pri upotrebi alata R0.02 mm.
233
(a)
(b)
(c)
234
rezanja mermera
Slika 6. Promena duine bonih prslina u zavisnosti od vrednosti radijusa alata.
5 ZAKLJUAK
Zbog svojih fiziko/mehanikih svojstava, mermer ima sve veu primenu u
industriji, meutim, njegova teka obradivost predstavlja problem. Zaostle prsline
unutar materijala bitno mogu uticati na integritet cele konstrukcije, samim tim
poznavanje fenomena koji se javljaju u procesu mikro obrade je neophodno.
Promena vrednosti radija alata dovodi do promene vrednosti intenziteta bonog
razaranja materijala. Smanjenje vrednosti radijusa sa R0.2 na R0.15 mm, odnosno
25%, dovodi do smanjenja intenziteta bonog razaranja za oko 3055%. Daljim
smanjenjem radijusa alata na R0.06 mm (za 60% manji u odnosu na R0.15 mm),
smanjuje se intenzitet bonih prslina od 53 do 98% u odnosu na vrednosti prslina koje
nastaju usled obrade alatom R0.15 mm. Smanjenjem radijusa ostvaruje se smanjenje
intenziteta bonog razaranja.
Ukoliko se pogleda proporcionalnost izmeu vrednosti radijusa alata i bonih
prslina, moe se rei da je nepovoljniji sluaj kada se koriste alati sa manjim radijusom.
U tom sluaju vrednosti bonih prslina mogu biti znatno vee od idealne irine ljeba
koji bi trebalo da formira alat.
LITERATURA
[1] Lawn, B. R., and M. V. Swain. (1975). Microfracture beneath point indentations in
brittle solids, Journal of materials science, 10/1, p.p. 113-122.
[2] Ueda, K., Sugita, T., Hiraga, H., & Iwata, K. (1991). A J-integral approach to
material removal mechanisms in microcutting of ceramics. CIRP Annals-
Manufacturing Technology, 40/1, p.p. 61-64.
[3] Tan, Y., Yang, D., & Sheng, Y. (2008). Study of polycrystalline Al 2 O 3 machining
cracks using discrete element method. International Journal of Machine Tools and
Manufacture, 48/9, p.p. 975-982.
[4] Zhou, M., Ngoi, B. K. A., Yusoff, M. N., & Wang, X. J. (2006). Tool wear and
surface finish in diamond cutting of optical glass. Journal of Materials Processing
Technology, 174/1, p.p. 29-33.
[5] Suzuki, N., Haritani, M., Yang, J. B., Hino, R., & Shamoto, E. (2007). Elliptical
vibration cutting of tungsten alloy molds for optical glass parts. CIRP Annals-
Manufacturing Technology, 56/1, p.p. 127-130.
235
[6] Liang, Z., Wang, X., Wu, Y., Xie, L., Jiao, L., & Zhao, W. (2013). Experimental
study on brittleductile transition in elliptical ultrasonic assisted grinding (EUAG) of
monocrystal sapphire using single diamond abrasive grain.International Journal of
Machine Tools and Manufacture, 71, p.p. 41-51.
[7] Nath, C., Rahman, M., & Neo, K. S. (2009). A study on ultrasonic elliptical vibration
cutting of tungsten carbide. Journal of Materials Processing Technology, 209/9,
p.p. 4459-4464.
[8] Venkatachalam, S., Li, X., & Liang, S. Y. (2009). Predictive modeling of transition
undeformed chip thickness in ductile-regime micro-machining of single crystal
brittle materials. Journal of materials processing technology, 209/7, p.p. 3306-
3319.
[9] Orowan, E. (1955). Energy criteria of fracture. Welding Journal. Res. Sup. 34/3,
p.p. 157-160.
236
_____________________________________________________________________________
A PREDICTIVE MODEL OF CUTTING FORCES IN MQL TURNING

USING GENETIC ALGORITHM
Djordje Cica1, Branislav Sredanovic2, Davorin Kramar3
Abstract: Minimum quantity lubrication (MQL) based machining method is now an

established alternative to conventional flood cooling. Accurate modeling of the cutting
forces in MQL environment is not a simply task due to the many highly interlinked
variables of machining process influencing these forces. The objective of this study is to
propose method for prediction of the cutting forces components in MQL turning of carbon
steel Ck45E using genetic algorithm (GA). A study of effect of various process
parameters including feed, cutting speed and depth of cut on the cutting forces is carried
out. The results show that the GA based model can be for prediction of cutting force
components in response to the model parameters under MQL environment.
Key words: cutting forces, genetic algorithm
1 INTRODUCTION
Modeling and prediction of cutting forces in metal cutting is very important, due
to their significant impacts on quality of machined surface, tool wear, self-excited
vibrations, etc. Furthermore, prediction of cutting forces helps in the machining
optimization problems, in adaptive control and monitoring applications, in the formulation
of simulation models, etc. Finally, knowledge of the cutting forces is essential for
estimation of power requirements of the machine tools. However, accurate modeling of
the cutting forces is not a simply task due to the many highly interlinked variables of
machining process influencing these forces. In this regard, cutting forces have been
investigated by many researchers through formulation of appropriate models for their
prediction. The most frequently used predictive models are mathematical models based
on the physics of the cutting process, the multiple regression technique and artificial
intelligence (AI) techniques. Over the last two decades, different modeling methods
based on artificial intelligence have become the preferred trend and are applied by most
researchers as an accurate and powerful tool for machining process modeling. There
1 Dr Djordje Cica, Univeristy of Banja Luka, Faculty of Mechanical Engineering, Republika Srpska BiH,
djordjecica@gmail.com
2 Mr Branislav Sredanovic, Univeristy of Banja Luka, Faculty of Mechanical Engineering, Republika Srpska
BiH, sredanovic@gmail.com
3 Dr Davorin Kramar, Univeristy of Ljubljana, Faculty of Mechanical Engineering, Slovenia,
davorin.kramar@fs.uni-lj.si
237
Djordje Cica, Branislav Sredanovic, Davorin Kramar
are numerous applications of AI based modeling of cutting forces reported in the

literature.
Szecsi [1] presented a artificial neural networks (ANN) based approach to
modeling cutting forces, where ANN were trained trained with the following parameters:
physical properties of machined material, cutting tool geometry, cutting speed, and
cutting feed. Szecsi shown that his ANN model is more accurate than used analytical
cutting force model. Luong and Spedding [2] apply ANN for the selection of machining
parameters and for the prediction of machining performance. The ANN were trained
using data from the handbooks and after training ANN it is possible to select appropriate
machining conditions and predict cutting forces and surface finish for a given work
material. Sharma et al. [3] developed a comprehensive model for estimation of cutting
forces and surface roughness for hard turning using ANN. The effect of cutting
parameters such as approaching angle, speed, feed, and depth of cut on machining
variables was evaluated. The ANN model was tested with the experimental data and
results were indicated. Zuperl and Cus [4] were developed supervised ANN approach to
estimate the cutting forces generated during end milling process. The predictive
capability of using analytical and ANN model were compared using statistics, which
showed that ANN predictions for three cutting force components were more accurate
compared to analytical method. Ajkut and al. [5] used ANN for modeling cutting forces
with three axes, where cutting speed, feed rate and depth of cut were used as input
dataset. ANN training has been performed using scaled conjugate gradient (SCG) feed-
forward back-propagation (BP) algorithm. Lin et al. [6] construct ANN model for
prediction of surface roughness and cutting force. The ANN was trained with depth of
cut, feed and cutting speed as input parameters. Comparison of the ANN and regression
analysis model indicates that the prediction model developed by the ANN is more
accurate. Cica et al. [7] investigate prediction of cutting forces using ANN and ANFIS as
a potential modeling techniques. During the experimental research focus is placed on
modeling cutting forces in different cooling and lubricating conditions. Furthermore, the
effect of cutting parameters such as depth of cut, feed and cutting speed on machining
variables were also studied. The predicted values from both models and measured
values were fairly close, which indicates that AI techniques can be used effectively to
predict the cutting forces in turning operations.
Despite the fact that there are numerous applications of artificial intelligence in
modeling of the cutting forces reported in the literature, a review of the literature shows
that most of work is based on modeling cutting forces using ANN. Furthermore, a review
of the literature shows that no so much work is reported by modeling these parameters
in different cooling and lubricating conditions. The objective of this study was to present
method for determining the cutting forces components in turning of carbon steel Ck45E
under minimum quantity lubrication (MQL) environment using genetic algorithm (GA).
2 EXPERIMENTAL DETAILS
The experiments were performed on machining carbon steel Ck45E. The
cylindrical bar specimen that is utilized in these experiments has a diameter of 120 mm
and length of 300 mm and is placed with its longitudinal axis aligned with the direction
of feed. Machining experiments have been carried out on the universal lathe VDF
Boehringer Prvomajska, fitted with a MQL system for dosing of cooling and lubrication
fluid in the cutting zone. Cutting tool was SUMITOMO with insert SNMG 120408 NMX,
rake angle = 10, angle of inclination = 45, and corner radius r = 0.8 mm. In this
study, three levels of depth of cut, four levels of feed rate, and three levels of cutting
speed were used as the variables for cutting forces modeling (Table 1). Cutting speed
238
A predictive model of cutting forces in MQL turning using genetic algorithm
was implemented in accordance with the actual diameter of the workpiece and the
available number of spindle speed. With the cutting parameters defined and according
to their levels, in total 36 experiments were realized. The cutting force components (main
cutting force Fc, feed force Ff and passive force Fp) were measured with a three-
component dynamometer (Kistler 9259A) which was rigidly mounted on the lathe via a
custom designed adapter for the tool holder so that cutting forces components could be
accurately measured. The measurement chain further includes a charge amplifier
(Kistler 5001), a spectrum analyzer (HP3567A), and a PC for data acquisition and
analysis. The schematic layout of the experimental setup is shown in Figure 1.
Table 1. Design factors and their levels

Levels
Turning factor
I II III IV
Depth of cut, ap [mm] 1.5 2.0 2.5 -
Feed, f [mm/rev] 0.224 0.280 0.355 0.400
Cutting speed, vc [m/min] 210 320 400 -
Figure 1. Schematic layout of experimental setup
In order to analyze the influence of pressure of cooling and lubrication fluid on

cutting process, the pressures at conventional and MQL methods were seletced to be
equal (p = 0.3 MPa) This allows studying in detail the effects of these cooling/lubrication
techniques on machining performance and defining issues for further optimization of the
turning process. Figure 2 shows the effect of the various cutting parameters, that is,
speed, feed and depth of cut, on cutting force components.The presented results were
based on the cutting speed vc = 320 m/min. The measurement results presented in
Figure 2(a) indicate that method of cooling and lubricating has no significant influence
on main cutting force. From Figure 2(b) it is obvious that MQL method of cooling and
lubricating in a certain percentage affect the value of feed force in all combinations of
cutting parameters. Lower feed forces were generated for MQL compared to
conventional cooling and lubricating conditions for lower values of feeds, while at higher
feeds forces under MQL are larger compared to conventional cooling conditions. This
can be explained by insufficient lubricating effect of the supplied oil mist connected with
its cooling effect. Finally, as it can be seen in Figure 2(c), different cooling and lubricating
conditions have certain impact on passive forces. As with the analysis of the feed forces,
similar value changes in the passive forces were observed.
239
Figure 2. Effect of MQL and conventional method of cooling and lubricating on main
cutting force (a), feed force (b), and passive force (c)
3 GA BASED CUTTING FORCE COMPONENTS MODELING

Genetic algorithms belong to the larger class of evolutionary algorithms (EA) in
which a population of candidate solutions to a problem evolves over a sequence of
generations. In the last few decades, GA has been frequently used as an optimization
algorithm and has been successfully applied to a wide range of applications, such as the
scheduling of an flexible manufacturing systems, ANN training, supplier selection and
ordering problem, etc. The focus of this study is to employ a GA for prediction of the
cutting forces components in turning carbon steel Ck45E under MQL environment.
For modelling purposes 28 instances were used, while remaining 8 were used
for evaluation of model. As a modelled function, linear regression model for main cutting
force (Eq. 1), feed force (Eq. 2) and passive force (Eq. 3) will be used.
Fc C1 C2 f C3 vc C4 a C5 f a C6 f 2 (1)
Ff C1 C2 f C3 vc C4 a C5 f a C6 vc a (2)
Fp C1 C2 f C3 vc C4 a C5 f a C6 vc a (3)
In this study, GA were employed to search for optimal values of coefficients C1,
C2, C3, C4, C5, and C6, for which modelled equations will give the smallest deviation from
experimentally obtained data. In a GA, a fitness function is required to solve an
optimization problem. In this paper fitness function is defined by Eq. 4:
28
Ei M i
100 (4)
i 1 Ei
240
A predictive model of cutting forces in MQL turning using genetic algorithm
where Ei are experimentally obtained values of the cutting force components and
Mi are modeled value of these forces. In order to achieve the best performance of GA, a
parametric study for determination of optimal set of GA parameters was carried out. The
optimization process takes place with the values of crossover probability, mutation
probability, maximum number of generations and population size.

Mathematical models for main cutting force, feed force and passive force
obtained through GA are given in Eq. 5, Eq. 6 and Eq. 7, respectively.
Fc 495.537 1799.662 f 0.37 vc 38.641 a 1678.674 f a 3339.25 f 2 (5)
Ff 531.069 320.039 f 1.168 vc 68.99 a 516.846 f a 0.424 vc a (6)
Fp 510.044 120.739 f 0.977 vc 173.922 a 531.354 f a 0.453 vc a (7)
The models obtained using GA were compared within the independent data set
called testing dataset and results are shown in Figure 3. In predicting of main cutting
force the mean absolute percent error (MAPE) and maximum absolute percent error
(MaxAPE) were 1.48% and 3.1%, respectively. The mean absolute percentage errors
for feed force and passive force were 1.85% and 1.66%, respectively, while maximum
absolute percent errors were 6.1% and 5.4%, respectively. Hence it is evident that there
is good agreement between estimated and experimental values of cutting force
components for developed GA models.
Figure 3. Experimental and predicted results for main cutting force (a), feed force (b),
and passive force (c)
241
5 CONCLUSIONS
In this study, GA based model for estimation of cutting force components under
MQL environment was developed. The experimental values of cutting parameters such
as feed, cutting speed and depth of cut have been used to develop GA based model for
the prediction of main cutting force, feed force and passive force. Then the models were
compared for their prediction capability with the experimentally determined values.
These models were found to predict the output with the 98.52%, 98.15% and 98.34%
accuracy, for main cutting force, feed force and passive force, respectively, which can
be considered as excellent agreement between estimated and experimental values of
cutting force components. Future work should involve extending the predictive cutting
force models to include the various parameters of the MQL technique, such are quantity
of oil and air pressure. Furthermore, future work should be extended to a wide range of
cutting conditions, workpiece material, and tools.
REFERENCES
[1] Szecsi, T. (1999). Cutting force modeling using artificial neural networks. Journal of
Materials Processing Technology, vol. 92-93, pp. 344-349.
[2] Luong, L.H.S., Spedding, T.A. (1995). A neural-network system for predicting
machining behaviour. Journal of Materials Processing Technology, vol. 52, no. 2-4,
pp. 585591.
[3] Sharma, V.S., Dhiman, S., Sehgal, R., Sharma, S.K. (2008). Estimation of cutting
forces and surface roughness for hard turning using neural networks. Journal of
Intelligent Manufacturing, vol. 19, no. 4, pp. 473483.
[4] Zuperl, U., Cus, F. (2004). Tool cutting force modeling in ball-end milling using
multilevel perceptron. Journal of Materials Processing Technology, vol. 153154,
pp. 268275.
[5] Aykut, S., Glc, M., Semiz, S., Ergr, H.S. (2007). Modeling of cutting forces as
function of cutting parameters for face milling of satellite 6 using an artificial neural
network. Journal of Materials Processing Technology, vol. 190, no. 1-3, pp. 199
203.
[6] Lin, W.S., Lee, B.Y., Wu, C.L. (2001). Modeling the surface roughness and cutting
force for turning. Journal of Materials Processing Technology, vol. 108, no. 3, pp.
286293.
[7] Cica, Dj., Sredanovic, B., Lakic-Globocki, G., Kramar, D. (2013). Modeling of the
cutting forces using various methods of cooling and lubricating: An artificial
intelligence approach. Advances in Mechanical Engineering, Article ID 798597, 8
pages.
242
_____________________________________________________________________________
SOLUTION TO INCREASE THE PRODUCTIVITY ON CNC

MACHINING
Adrian But 1, Radu Canarache 2
Abstract: The paper present solutions to optimize the NC program. Using the original
NC program, keep the technology with the same cutting tools, the results give us less
time of manufacturing with more protection to collisions.
Key words: CAM software,CNC machine tools, optimisation
1 INTRODUCTION
When we create an NC program, we must take in consideration more options,
more variables and technological aspects to be able to respect the technical drawing of
the part, to respect the accuracy of the final product. But in the same time we must thing
regarding how to increase more profit, we must find the way to do more safest and fastest
machining and to apply the high technologyThis mean to optimize. In the paper we try
to give an answer regarding to present one solution to resolve these technical problems
and to succeed and to have a good and useful NC program on milling centers. Before
NC machining, first we must checklist for the NC program, to do not have machine
collision, tool breakage because this is capital facts and can cost a lot of money. One
broke NC spindle can cost between few thousand Euro to several tens of thousands of
Euro. It maybe be different situation from engineer, so there are variety of human error
will occur. Another important aspects are to establish a correct feed adapted at the
particular situations what we have in the manufacturing different parts with different
geometry, to calculate the correct RPM, and to manage the convenient air cut and over/
less cutting.
2 STATE OF THE ART

A good solution to give a positive answer at all this requests is to use the
advantage of NC BRAIN software ( Fig 1.). Using NCBrain we can reduces more than
10% of machining time and 90% of tool breakage, and helps to increase unmanned
machining without worrying about any accident or collision, which will increase run rate
after all.
1 Ph.D, Adrian But, POLITEHNICA UNIVERSITY OF TIMISOARA,Romania, adi.but@gmail.com (CA)

2 Radu Canarache, INICAD DESIGN, Romania, radu_canarache@yahoo.com
243
Adrian But, Radu Canarache
Figure 1.The philosophy of the NC BRAIN software
NC data that created by CAM will be regenerated into optimized NC data by

simulation and verification. The optimized NC data makes the safest and fastest
machining without any accident. As we know, not only showing collision between holder
& stock in red color and leaving log, but also showing collision between machine & stock,
which can easily be corrected as you want. To prevent one small accident will save a lot
damage in time and expense after all.
Figure 2. The prevent collision and the adapted the cutting tools parameters (the feed
speed) are the big two advantages of NC BRAIN
Safe feed rate fit for load may cause excessive machining time. NCBrain controls
feed rate on load accordingly and save machining time. Besides, it will minimize the tool
breakage and abrasion. The function mentioned above has been applied to 3 axis and
is being applied to simultaneous 5 axis as well which is the first development in the world.
Tool breakage is easily happening on excessive load. NCBrain has a function, called
automatic tool path addition on overloaded area, which prevents tool breakage and
deterioration. In particular, this function helps safe machining without any accident during
unmanned operation by ATC.
Figure 3. NC BRAIN function automatic tool path addition on overloaded area
244
Solution to increase the productivity on CNC machining
Face will the waste time of machining on air cut area during operation.
Considering this area, you have to create more detailed and stressful CAM. NC BRAIN
will save machining time by deleting this air cut area. Over & less cutting caused by NC
data and wrong tool info will create big damage to the end. This function checks the over
& less cutting by comparing CAD and Simulation model. You can prevent poor faulty in
advance with size base and naked eye.NC BRAIN accuracy on is one hundred-
thousandth, and is applicable to the extremely sensitive filed.
Figure 4. Data base creation for the cutting tools and the material stock
Lastly, it is D/B ( DATA -BASE) creation. Normally, the most important cutting
condition it depends on the engineer. NC BRAIN decides cutting condition by
optimization of cutting D/B so we can make fast, safe, and standard machining. NC
BRAIN will consider tools, machines and stock to create D/B. Consistently, if you
upgrade D/B, you can have more machining efficiency.
3 EXPERIMENTAL PROTOCOL
All this advantages we will present on real machining application where we will
underline the advantages of NC BRAIN implementation in our POLITEHNICA
UNIVERSITY OF TIMISOARA, ROMANIA.
Figure 5. The CAM application and the real part what was manufacturing
In Figure 5 was presented the CAM solution to manufacturing the part. We used
a raw material: C45, dimensions: 150X100X20 mm.
The cutting tools who was used :
1. end mill 17.6 mm, 4 teeth, for manufacturing the inlands and the rectangular
and round pockets
245
2. end mill 12 mm, 4 teeth, to make the contour in the rectangular and round
pockets
3. drill 6.8 mm, to manufacturing the drill
4. tap M8- for the threaded holes
5. engraving tool 6mm to engrave the words on the part.
Figure 6. The magazine and the cutting tool end mill 12 mm, 4 teeth in
manufacturing
Without using the NC BRAIN we will see the original tool path with green color
(Fig.8) and the time manufacturing was 11 minutes and 32 seconds. ,
(Fig. 7.)
Figure 7. The final simulation with the manufacturing time: 11 minutes and 32 seconds
Using the NC BRAIN software we will see different color of the trajectory (yellow,
blue, violet) what inform us that was change the feed take in consideration the
optimization of the part.
Figure 8. The green color indicate the original trajectories
246
Solution to increase the productivity on CNC machining
But after the optimization we will see different values of the feed :
for example in (Fig. 9) we will see in the line 507 :
N507 G1 X-3.500 Y41.923 Z-0.599 F6000 S1800 that the values of the feed grow to
6000 mm/min and in the line N 128 the value for the feed is change at 1400 mm/min
(Fig 10.) because here we have one manufacturing process where we must respect the
cutting conditions. But in the line N797 G1 X83.500 Y49.000 Z -2.444 F670 S1800 the
value of the feed was change at 670 mm/min( Fig. 11.). Here the cutting tools go in the
material using the ramp milling strategy and the cutting condition was change.
Figure 9. The line N507 G1 X-3.500 Y41.923 Z-0.599 F6000 S1800
Figure10. The line N128 G1 X114.450 Y64.450 Z-1.500 F1400 S1800
Figure 11. N797 G1 X83.500 Y49.000 Z -2.444 F670 S1800
The NC BRAIN can make the difference where the cutting tool is in the milling process
andin the situation where we can grow up the feed values where we made the
positioning. We can see on ( Fig. 12 ) that the feed value grow up at F 5000 mm/min.
247
Figure 12. N41 G1 X10.250 Y76.350 Z-1.000 F5000 S 1800
4 CONCLUSION
Using the NC BRAIN we obtain 9 minutes and 20 seconds of manufacturing
time. So the effect was with 19% less time of manufacturing.
NC BRAIN has high precision and best calculation speed in NC machining part. Only
NC BRAIN can help to do unmanned machining and reduce the machining time. And
also NC BRAIN calculation speed is 6 times more faster than other product. NC BRAIN
has been supplied top-notch standard technology for CNC machining to approx. 1500
clients and 6000 seats from top global companies to small companies. If you want
maximize profit with safest and fastest machining, NC BRAIN is not optional, it is
compulsory!
REFERENCES
[1] Adrian BUT Machine and advance sistem of manufacturing. POLITEHNICA
Publishing Timisoara, Romania ISBN 978-973-625-949-4
[2] KENNETH R. WRIGHT-CNC MILLING & TURNING-
www.cnceducationalservices.com
[3] NC BRAIN Documentations - http://ncbrain.com/
248
_____________________________________________________________________________
EKOLOKI I ENERGETSKI ASPEKTI U RAZVOJU TEHNOLOGIJA

PLASTINOG OBLIKOVANJA
Milentije Stefanovi1, Dragan Adamovi2, Andreja Stefanovi3, Milija Krainik4
Rezime: U modernoj industriji realizacija efikasnih proizvodnih procesa je u

neposrednoj vezi sa energetskom efikasnou. U oblasti proizvodnih tehnologija,
postoje tri glavna uzroka za stalno poveanje znaaja utede energije i efikasnosti
resursa: ekoloki izazovi, socijalni zahtev i ekonomska opravdanost. U oblasti
proizvodnog mainstva, posebno je znaajan razvoj, tzv. zelenih tehnologija
plastinog oblikovanja, koje prati i razvoj novih istih maziva. U radu se pokazuje da su
elementi ekoloke odrivosti znaajan faktor kompleksa proizvodnih procesa; takoe u
radu se navode i preporuke za poveanje energetske efikasnosti.
Kljune rei: obrada metala deformisanjem, proizvodne tehnologije, uteda energije,

ivotna sredina
ENVIRONMENTAL AND ENERGY ASPECTS IN THE DEVELOPMENT OF

TECHNOLOGY OF METAL FORMING
Abstract: In the modern industry, the realization of efficient production processes is
directly related to energy efficiency. In the field of production technology, there are
three main causes for the increasing importance of energy and resources efficiency:
environmental challenges, social demands and economic chance. In the field of
production engineering, it is particularly significant development, so-called 'Green'
technology of plastic forming, accompanied by the development of new clean
lubricants. This paper presents the elements of environmental sustainability as
significant factor of complex manufacturing processes; also paper shows
recommendations for improving energy efficiency.
Key words: energy efficiency, environment, metal forming, production technology
___________________________
1
Prof. dr Milentije Stefanovi,Fakultet inenjerskih nauka u Kragujevcu, Srbija, stefan@kg.ac.rs
2
Prof. dr Dragan Adamovi, Fakultet inenjerskih nauka u Kragujevcu, Srbija, adam@kg.ac.rs
3
Dr Andreja Stefanovi, JP Urbanizam -Kragujevac, Kragujevac, Srbija, andreja2202@gmail.com
4
Doc. dr Milija Krainik, Mainski fakultet, Istono Sarajevo, BiH, Republika Srpska, milija.kraisnik@ues.rs.ba
249
Milentije Stefanovi, Dragan Adamovi, Andreja Stefanovi, Milija Krainik
1 UVOD
Proizvodne tehnologije igraju znaajnu ulogu u napretku globalnog
industrijskog sveta, i neodvojivi su deo razvoja ljudskog drutva. Ove tehnologije, a
posebno tehnologija plastinog oblikovanja metala, intenzivno se razvija poslednjih
decenija. Njihov razvoj je usklaen sa globalnim ciljevima i izazovima ljudskog drutva,
od kojih su najvaniji oni u vezi sa obezbeenjem hrane i energije za populaciju koja
se vrtoglavo uveava. U oblasti proizvodnje delova i sklopova odigrala se prava
revolucija, koja se i dalje nastavlja uvoenjem novih tehnologija, automatizacije i
kompjutera, prvenstveno uveavajui sloenost proizvoda, sl.1.
Slika 1. Porast komleksnosti proizvoda prati promene u industrijskoj revoluciji [1]
Tri osnovne karakteristike proizvodnih tehnologija, koje neprekidno uveavaju

znaaj energije i ouvanja prirodnih resursa su [2]:
ekoloki izazovi,
socijalni zahtevi i
ekonomska odrivost.
Osnovni problem u preraivakoj industriji je obezbeenje energije i drugih
izvora sirovina, koji neprekidno redukuju neobnovljive prirodne resurse. Prema [2], u
Evropi je 2008. industrija koristila 27% raspoloive energije, za grejanje stambenog
prostora 25%, za transport 32%, itd.
Proizvodne tehnologije, a posebno postupci plastinog oblikovanja metala
(TPO), poslednjih decenija doivljavaju buran razvoj. Osnovne karakteristike TPO su:
razvoj postupaka numeriko-fizikog modeliranja procesa oblikovanja-teenja metala,
definisanje naponsko-deformacionih polja i sl., u cilju optimizacije parametara obrade,
primena sistema CAD/CAM za projektovanje i izradu alata, razvoj i primena vetake
inteligencije i ekspertnih sistema u osvajanju procesa obrade i konstrukcije alata,
razvoj razliitih postupaka, alata i maina za delove koji se ne obrauju naknadano
(Net Shape Forming - NSF obrada) itd. [3].
2 EKOLOKI ASPEKTI U OBLASTI TPO

Razvoj industrije dovodi do intenzivnog odziva u oblasti zatite ivotne sredine.
Proizvodnja dovodi do troenja obnovljivih i neobnovljivih materiala (metali, fosilna
goriva, voda), uz upotrebu energije. U proizvodnji se takoe stvaraju otpadne materije
u tenom, vrstom i gasovitom stanju.
250
Ekoloki i energetski aspekti u razvoju tehnologija plastinog oblikovanja metala
Pri reavanju ovakvih problema neophodno je koristiti specijalne strategije i

odgovarajua ulaganja u otklanjanju tetnih materija i emisija, njihovom smanjenju,
substituciji ili kompletnoj eliminaciji. Cilj koji treba postaviti je realizacija tzv. iste
obrade, u realnim uslovima odrivosti.
Ne ulazei u sve detalje kompleksne eko-tribologije, na slici 2 pokazani su
mogui izvori uticaja na okolinu pri proizvodnji postucima TPO [3,4]. Posebne strategije
i esto visoka ulaganja su neophodna za reavanje problema otpadnih materija i
tetnih emisija, u oblasti odlaganja, recikliranja, zamene ili potpune eliminacije.
Oigledna je sloena priroda nastajanja i reavanja iznetih problema, u cilju stvaranja
tzv. istih TPO. U prvom koraku, po pravilu se razreavaju potekoe koje nastaju pri
korienju i uklanjanju maziva, bez kojih je najee i nemogue relizovati proizvodnju.
PROIZVODNJA POSTUPCIMA OMD

Energija (Polu-)
Naknadni zavreni
Priprema Oblikovanje
tretman delovi
Materijal - ienje
- fosfatiranje - term. obr.
Dodatni - itd. Maina - galvaniz.
ulazi - itd.
reagensi buka, otpadak hemikalije

vibracije,
zagrevanje ... oteeni
alati
prljava ostaci talog

voda maziva
Preostali materijali i emisije
Slika 2.Uticaji na okolinu u postupcima TPO [4]

Sa ekolokog aspekta, kljuna pitanja u oblasti TPO su:
zatita raspoloivih resursa i
smanjenje uticaja na ovekovu okolinu.
Ova dva glavna pitanja se mogu dalje razloiti na sledee aktivnosti [4], koje se
sistemski ugrauju u pojedine module prethodne strukture (sl.2.):
ouvanje bazinih resursa i materijala,
optimalna konstrukcija proizvoda,
optimalna proizvodnja,
smanjenje potronje energije,
zatita ovekove okoline.
Preporuke za optimalnu konstrukciju odnose se na korienje obnovljivih i
materijala koji se recikliraju, triboloki prihvatljive konstrukcije i materijale; optimalna
proizvodnja podrazumeva automatsko upravljanje, visoku efikasnost i smanjenje
potronje maziva. Najbolji naini za ostvarivanje zatite okoline su:
korienje ekoloki prihvatljivih materijala (recikliraju se, lako se odlau, ne
utiu na okolinu ukoliko se ne recikliraju, pri njihovoj proizvodnji se ne
generiu tetni otpaci),
korienje maziva koja manje tetno utiu na okolinu (potpuno umanjenje
isticanja, produavanje veka upotrebe maziva, upotreba-recikliranje-
odlaganje, upotreba ekoloki prihvatljivih maziva).
251
3 OSNOVNI PRINCIPI UTEDE ENERGIJE U PROIZVODNJI

Postoje razliiti pristupi u formiranju generalnih principa za utedu energije u
proizvodnji. Prema [5], potrebno je hijerarhijski posmatrati razliite organizacione nivoe
u proizvodnom sistemu. U tom smislu, predlau se razliite mere za unapreenje
energetske efikasnosti:
a) Proizvodna jedinica: poseban ureaj ili maina u proizvodnom sistemu, koji
realizuju jedinistveni postupak. Za ovaj procenjeni nivo preporuuje se: redizajn
maine i selektivno popravljanje energetske efikasnosti bez uticaja na produktivnost,
optimizacija parametara procesa u cilju smanjenja potronje energije,
b) Proizvodna linija, multi- mainski sistem: sistem je organizovan paralelno ili
serijski. Za ovaj nivo se preporuuje: mogunost naknadne upotrebe reursa,
identifikovana kroz odgovarajue kaskadne strategije; energetski vrh i ukupna
potronja energije mogu se smanjiti planiranjem i optimizacijom koju podravaju
metode simulacije,
c) Fabrika. Razliito rasporeena oprema, organizovana linijski, u elijama itd.,
agregati, preistai vode, ureaji za grejanje, hlaenje i sl. Zakljuak: modeli simulacije
postaju dominantni, tehniko odravanje zahteva veliku koliinu energije, neophodno je
paljivo projektovanje objekata, neophodno je smanjenje energetskih inputa u skladu
sa lokalnim klimatskim uslovima,
d) Sistem vie fabrika razliite fabrike su blizu jedna drugoj. Mogue je koristiti
sinergijsko upravljanje tokovima energije i korienja otpada. Preporuke: zajedniko
upravljanje tokovima energije i otpada, smanjenje trokova uklanjanja vrstog i tenog
otpada, uveanje ukupne energetske efikasnosti.
e) Preduzee / globalni lanac snabdevanja: kompletni proizvodni sistem koji
ukljuuje pojedinane zgrade, infrastrukturu za podrku fabrikama, transport i spoljanji
lanac snabdevanja. Zakljuak: u okviru lanca snabdevanja razliitih proizvodnih
lokacija, njihov uticaj na trokove energije i zatitu ivotne sredine je dominantan. S
obzirom da nemaju uticaja na regionalne trokove energije, lokalne proizvodne
kompanije imaju vrlo razliite trokove proizvodnje. Proizvodna lokacija takoe
odreuje potrebe za transportom sirovina i gotovih proizvoda, to rezultuje i
odgovarajuim utrokom energije. Detalji u vezi metodologije analize energetske
efikasnosti sloenih objekata i preporuke za podizanje efikasnosti dati su u radu [6].
Moderno holistiko razumevanje proizvodnje zahteva odgovarajui pristup u
simulaciji u oblasti energetske efikasnosti, koja ukljuuje odravanje zgrada i tehnike
usluge, klimatizaciju, proizvodnju delova i maina i protok materijala, planiranje
proizvodnje i kontrole. Sinergija treba da bude identifikovana i podsticana kroz
poboljanje objekata, efikasno odravanje, dijagnostiku, proces poboljanja kvaliteta,
bolju zatitu na radu i konceptom novih usluga i poslovnih modela [5, 7].
Slika 3. ilustruje holistiki prikaz proizvodne fabrike, pri emu su ukljuene tri
odvojene celine: proizvodni sistem (maine povezane izmeu sebe sa odgovarajuim
administrativnim menadmentom), tehniki servis objekta i krovno okruenje itavog
objekta sa postojeim internim dinamikim meuvezama.
U skladu sa energetskom efikasnou prizvodnih lanaca, neophodno je
ostvariti zahtevani balans u protoku energije i materijala. Balans se iskazuje
uporeenjem iznosa uloene i potroene energije. U radu [2] se detaljno analizira
ovakav balans u industriji prerade limova, diskretnim razmatranjem energetskih
utroaka pri obradi probijanjem na transfer presi.
Specijalna strategija u poveanju energetske efikasnosti i ouvanja prirodnih
resursa je povezana sa optimizacijom proizvoda i proizvodnje, zamenom postojeih
sistema pogodnijim (elektrini pogoni, pumpe, kompresori, sistemi za hlaenje i
252
Ekoloki i energetski aspekti u razvoju tehnologija plastinog oblikovanja metala
grejanje i sl.), optimizacijom geometrije komada, korienjem novih pogonskih sistema,

korienjem energije za koenje kao korisne energije i sl. Strategije u vezi optimizacije
procesa i optimizacije proizvoda dovode do priblino istih efekata utede, tabela 1.
[2],: (analiza je raena u Nemakoj u 53 kompanije, 2010. godine).
Slika 3. Proizvodni pogon kao kompleksni sistem za upravljanje [5]
Tabela 1. Aktivnosti poboljanja za optimizaciju procesa i proizvoda [2]

Primeri za optimizaciju Primeri za optimizaciju
Strategije poboljanja
procesa proizvoda
Zamena postojeih maina i
Eliminacija i zamena koraka u
opreme visoko efikasnim
procesu (precizno kovanje,
sistemima (maina za
mehaniko seenje umesto
suenje, elektrini pogoni,
laserskog)
kompresori, itd.)
114 aktivnosti 53
Sistemske operacije
nemakih kompanija da bi Optimizacija geometrije
zasnovane na zahtevima
poboljali energetsku komponenti (debljina limova,
(automatsko iskljuivanje,
efikasnost i efikasnost projektovanje, itd.)
stand-by mod, itd.)
resursa
Primena novih tehnologija
Suva umesto vlane obrade pogona (direktni i hibridni
pogoni, itd.)
Minimalno kvantitativno
Obnova energije koenja
podmazivanje
Zamena materijala
Inteligentna kontrola brzine (projektovanje malih teina,
(pumpe, pogoni, itd.) poboljana otpornost na
habanje, itd.)
Smanjenje vremena ciklusa,
Smanjenje pokretnih masa
minimizacija neproizvodnog i
primena metalnih pena, itd.)
praznog vremena
253
4 ZAKLJUCI
Razvoj tehnologije plastinog oblikovanja metala podrazumeva i usaglaavanje
sa savremenim zahtevima za utedu energije i uvoenje tzv. istih proizvodnih
postupaka, koji se temelje na: ouvanju bazinih resursa i materijala, optimalnoj
konstrukciji proizvoda i proizvodnji, smanjenju potronje energije i zatiti ovekove
okoline, ime se i bavi eko-tribologija. Korienje ekoloki prihvatljivih maziva je samo
jedan od aspekata globalnog pristupa u oblasti TPO.
Za analizu utede energetskih tehnologija proizvodnje potrebno je koristiti tzv.
holistiki pristup, koji ukljuuje sinergiju svih aktivnosti proizvodnje i tehnolokog nivoa
fabrike ili kompanije. U radu se daju preporuke za eventualne intervencije u tom
pogledu. Da bi se postigla optimalna uteda energije neophodno je izvriti analizu
bilansa energije i protoka materijala za sve elemente proizvodnog lanca. Sa ekolokog
aspekta, kao i u drugim tehnologijama, glavni problemi kod proizvodnih tehnologija su
ouvanje raspoloivih resursa, i smanjenje uticaja na ivotnu sredinu. Ova dva glavna
pitanja mogu biti razmatrana kroz nekoliko sloenih aktivnosti, koje moraju biti
integrisane u pojedinim elementima industrijskih sistema kroz: smanjenje potronje
energije, ouvanje osnovnih sirovina i materijala, optimalnu konstrukciju proizvoda,
optimalnu proizvodnju i zatitu ivotne sredine.
LITERATURA
[1] J. Jeswiet , M. Geiger , U. Engel , M. Kleiner , M. Schikorra , J. Duflou , R.
Neugebauer , P. Bariani , S. Bruschi (2008), Metal forming progress since 2000,
CIRP Journal of Manufacturing Science and Technology 1, pp. 217.
[2] A. Goschel, A. Sterzing, J. Schonherr (2011), Balancing procedure for energy and
material flows in sheet metal forming, CIRP Journal of Manufacturing Science and
Technology 4, pp.170179.
[3] M. Stefanovi, M. orovi-Stanojevi, S. Aleksandrovi (2009), Ekoloki aspekti
razvoja tehnologija plastinog oblikovanja metala, DEMI 2009, Banja Luka 2009,
Zbornik radova, str.335-338.
[4] Geiger, Towards Clean Forming Techniques (1995), CIRP Annals - Manufacturing
Technology, Volume 44, Issue 2, pp. 581-588.
[5] J. R. Duflou, J. W. Sutherland, D. Dornfeld , C. Herrmann , J. Jeswiet , S. Kara , M.
Hauschild, K. Kellens (2012), Towards energy and resource efficient
manufacturing: A processes and systems approach CIRP Annals Manufacturing
Technology 61, pp. 587609.
[6] Stefanovic ., Gordic D. (2016), Modeling methodology of the heating energy
consumption and the potential reductions due to thermal improvements of
staggered block buildings, Energy and Buildings, Vol. 125, . 244-253, ISSN
0378-7788
[7] M. Stefanovi, D. Adamovi, Z. Guliija, A. Stefanovi, M. Milovanovi (2013),
Production technology and energy savings: General principles, XI International
Conference- Maintenance and Production Engineerning, KODIP - 2013, Budva,
Proceed., pp. 47-52.
254
_____________________________________________________________________________
STANDARDI KOJI DEFINIU KVALITET FOTOOSJETLJIVE

ZAVARIVAKE MASKE
Dragoslav Dobra1, Milisav Markovi2
Rezime: Elektrini luk koriten pri zavarivanju izvor je svjetlosnog zraenja koje
obuhvata infracrvenu, vidljivu i ultraljubiastu svjetlost. Koliina vidljive svjetlosti
prevazilazi mogunost apsorpcije ljudskog oka, dok su infracrvena i ultraljubiasta
tetne po ljudski organizam. Elektrini luk kao izvor toplote kod razliitih postupaka
zavarivanja generie razliitu koliinu i spetkar svjetlosti. Kao osnovno zatitno
sredstvo pri zavarivanju koristi se zavarivaka maska. Sve vie su u upotrebi
zavarivake maske sa fotoosjetljivim vizirom. Kroz rad se daje pregled standarda koji
definiu kvalitet zavarivake fotoosjetljive maske.
Kljune rijei: zavarivanje, elektrini luk, svjetlost, zavarivake maske.
STANDARDS THAT DEFINE QUALITY OF WELDING

PHOTOSENSITIVE VISOR
Abstract: Electric arc which used for welding is a source of light radiation that includes
infrared, visible and ultraviolet light. The amount of visible light exceeds the absorption
capacity of the human eye, while the infrared and ultraviolet lights are harmful to the
human body. Electric arc as a heat source in a variety of welding processes generate
varying amounts of light and spectre. As a basic protective devices which used in
welding is welding mask. More and more frequently in use welding mask with
photosensitive visor. Through this paper provides an overview of standards that define
quality of welding photosensitive visor.
Keywords: welding, electric arc, luminosity, welding mask.
1 UVOD
Svako tijelo bilo ono vrsto, teno ili gasovito izloeno promjeni energetskog
nivoa emituje elektromagnetno zraenje, koje nastaje zbog kretanja atoma i molekula
od kojih su tijela sastavljena, ili zbog elektrinog izboja ili hemijske reakcije. Tako
nastaje emisija elektromagnetne energije kroz prostor. Ona se materijalizuje kroz
1 dr Dragoslav Dobra, Univerzitet u Banjaluci, Mainski fakultet Banjaluka, BiH, dragoslav.dobras@unibl.rs

2 Milisav Markovi mr, Univerzitet u Banjaluci, Mainski fakultet Banjaluka, BiH, milisav.markovic@unibl.rs
255
Dragoslav Dobra, Milisav Markovi
zraenje, koje zavisno o karakteristici materijala i veliini energetske promjene moe

biti razliite frekvencije i talasne duine, odnosno moe imati razliite energije.
Elektrini luk, kao i onaj koji koristimo pri zavarivanju, nastaje jonizacijom
vazduha i izvor je vjetake svjetlosti koja moe imati razliite energetske potencijale i
talasne duine. Elektromagnetno zraenje elektrinog luka moe proizvesti veliki
spektar energija: radio-talase, mikrotalase, infracrveno zraenje, vidljivu svjetlost,
ultraljubiasto zraenje, X-zrake i Y-zrake. Najvei dio energije pri tome predstavlja IC
zraenje (talasne duine > 760 nm), vidljiva svjetlost (talasne duine 400 - 760 nm) te
UV zraenje (talasne duine ispod 400 nm). Koliki je udio pojedinih vrsta zraenja u
elektromagnetnom spektru zavisi od vrste i temperature izvora. Vrlo vrui izvori emituju
veinu svjetlosti u ultraljubiastom podruju, dok izvori sa niom temperaturom emituju
veinu zraenja u infracrvenom podruju.
Vidljiva svjetlost je samo onaj dio ukupnog spektra na koji je osjetljivo ljudsko
oko.
2 ZAHTJEVI ZA ZATITU OIJU

Ljudsko oko je organ vida koji elektromagnetni spektar vidljive svjetlosti, putem
fotoreceptora smjetenih u mrenjai oka, pretvara u signal koji se putem onog nerva
prenosi u mozak koji nam interpretira sliku vidnog podruja. Pomou onog miia oko
vri prilagoavanje, tako to suavanjem i irenjem zjenice regulie koliinu svjetlosti,
a promjenom oblika soiva regulie dubinu posmatranja otrinu slike (fokus).
Pri upotrebi elektrinog luka kod zavarivanja, brzina prostiranja, koliina
svjetlosti, kao i intenzitet i spektar, prevazilaze mogunosti apsorpcije i brzine
prilagoavanja ljudskog oka. Iz tog je razloga pri zavarivanju obavezna primjena
zatitnih maski, ija je osnovna namjena da kroz vizir zatamnjeno staklo ili
fotoosjetljivi materijal redukuje koliinu svjetlosti koja prodire u ljudsko oko.
Istovremeno ostali dio maske titi oi i kou glave od uticaja svjetlosnog i toplotnog
zraenja te mehanikih povreda.
Razliiti postupci zavarivanja imaju razliitu gustou elektrinog luka,
temperatura elektrinog luka je razliita, te je razliita i koliina i spektar svjetlosnog
zraenja koje pojedini postupci zavarivanja isijavaju (slika 1).
a) REL b) MAG c) TIG

Slika 1. Isijavanje svjetlosti pri razliitim postupcima zavarivanja ZAVARIVAKE
ZATITNE MASKE
Zavarivake zatitne maske sastavljene su od nosaa i vizira, mogu biti

napravljene od razliitih materijala a razlikuju se:
rune ili naglavne,
sa mogunou preklapanja stalno zatamnjenog stakla,
sa stalno zatamnjenim vizirom ili sa fotoosjetljivim vizirom,
bez i sa sistemom za vjetaki dotur svjeeg vazduha,
256
Standardi koji definiu kvalitet fotoosjetljive zavarivake maske
a) b) c)
d) e) f)
Slika 2. Zatitna zavarivaka oprema za oi
a) naoale sa preklopnim tamnim staklom, b) runa maska sa tamnim staklom
c) naglavna maska sa tamnim stakom, d) naglavna maska sa fotoosjetljivim staklom,
e) naglavna maska sa preklopnim fotoosjetljivim staklom, f) naglavna maska sa
fotoosjetljivim staklom i sistemom dotura svjeeg vazduha
Stepen zatamnjenja i apsorpcije svjetlosnog zraenja koji se zahtijeva od

zavarivakih zatitnih sredstava za oi definisan je standardom BAS EN 166, koji
prema stepenu zatamnjenja stakla razvrstava u grupe prema tebeli 1.
Tabela 1. Nivoi zatite - zatamnjenja

Zavarivaki Ultravioletni Infracrveni Filteri za sunevu svjetlost
zatitni vizir zatitni vizir zatitni filter bez IC zatite sa IC zatitom
1,2 1,2 2 1,2 4 1,1 5 1,1 6
1,4 1,4 2 1,4 4 1,4 5 1,4 6
1,7 1,7 2 1,7 4 1,7 5 1,7 6
2 22 24 25 26
2,5 2 2,5 2,5 4 2,5 5 2,5 6
3 23 34 3,1 5 3,1 6
4 24 44 4,1 5 4,1 6
5 25 45
6 46
7 47
8 48
9 49
10 4 10
11
12
13
14
15
Zavisno o primjenjenom postupku i jaini struje zavarivanja preporuena
zatamnjenja vizira data su u tabeli 2.
257
Tabela 2. Preporueno zatamnjenje zavisno o postupku i jaini struje

Zavarivanje Rezanje
Struja MIG MIG
(A) REL uglj. legirani MAG TIG Plazma Plazma Elektrodom
elik elik
2,5
5
5
10
8 6
15
20 8
7
30
40 9
9 8
60
9 9 9
80
10 10 9
100
10 10 10 10
125
10 10
150 11
11 11 11 11 11
175
11 11
200
12 12
225 12
12 12 12 12
250 12
13 13
300
13 13
350 13
400 14 13
13 13 14 14 14
450
500
15 14 15 15
600 14 14 15
3 ZATITNE MASKE SA FOTOOSJETLJIVIM VIZIROM

Zahtjevi, uslovi koritenja i kvalitet materijala zatitnih zavarivakih maski sa
fotoosjetljivim vizirom definisani su standardima:
BAS EN 166:2003 Lina zatitna sredstva za oi Specifikacije
BAS EN 169:2007 Lina zatitna sredstva za oi - Filteri za zavarivanje i srodne
tehnike - Zahtijevi za propustljivost i preporuke za upotrebu
BAS EN 175:2001 Lina zatita - Oprema za zatitu oiju i lica pri zavarivanju i
srodnim postupcima
BAS EN 379+A1:2010 Lina zatitna sredstva za oi - Automatski zavarivaki filteri
Zavarivake maske sa fotoosjetljivim vizirom izvedene su kao naglavne
zatitne maske. Fotoosjetljivi vizir daje mogunost zavarivau da, u vrijeme kad nije
uspostavljen elektrini luk, kroz zavarivaku masku vidi radni prostor bez zatamnjenja,
a od momenta kada se poinje uspostavljati, fotoosjetljivi vizir se zatamnjuje na stepen
zatamnjenja koji odgovara osjetljivosti oiju zavarivaa.
Obzirom da razliiti postupci elektrolunog zavarivanja i razliite jaine struje
zavarivanja reprodukuju razliite koliine i frekvencije svjetlosti, fotoosjetljivi viziri
moraju biti napravljeni tako da mogu apsorbovati viak reprodukovane svjetlosti uz
ispunjenost sljedeih uslova:
apsorpcije vika vidljive svjetlosti
258
Fotoosjetljivi viziri imaju mogunost runog podeavanja stepena zatamnjenja.

Kvalitet vizira ogleda se u tanosti regulacije i odnosa koliine apsorbovane i
dozvoljene koliine vidljive svjetlosti kroz vizir za podeeni stepen zatamnjenja.
apsorpcije UV i IC svjetlosti
Svi fotoosjetljivi viziri ispred sebe, na kuitu naglavne maske, imaju prozirni
zatitni vizir ija je uloga da titi fotoosjetljivi vizir od:
mehanikih oteenja,
toplotnog zraenja elektrinog luka,
da apsorbuje odreenu koliinu UV i IC zraenja.
Ostatak UV i IC zraenja apsorbuje fotoosjetljivi vizir. Kvalitetniji viziri daju bolju
zatitu od navedenih uticaja. Ovi parametri definisani su standardima BAS EN 166 i
BAS EN 175. Osnovne oznake kvaliteta zavarivake maske date su u skladu sa
emom oznaavanja definisanom na slici 3.
Slika 3. Oznaavanje zatitnih maski prema BAS EN 166
brzine zatamnjenja i otvaranja vizira

Zbog tromosti oka ovjek ne raspoznaje promjene u okolini koje se dogaaju
brzinom veom od 50 milisekundi. To znai da oko raspoznaje 20 slika u sekundi, a
sve vee promjene se u ljudskom oku stapaju. Fotoosjetljivi viziri se pri uspostavljanju
elektrinog luka moraju zatamniti u to kraem vremenskom intervalu. Kvalitetni viziri
zatamne u vremenu do 0,5 ms. Kod loijih vizira zatamnjenje se ostvaruje do 250 ms
pa oko zavarivaa registruje odreenu koliinu svjetlosti elektrinog luka koja prolazi
kroz vizir sve dok se on ne zatamni.
optiki kvalitet slike
259
Zavarivanje nije jednostavan proces, posebno kada se posmatra zavariva koji

nosi zavarivaku masku vei dio od 10-satnog radnog vremena, a ponekad radi na
osjetljivim, tankim ili skupim materijalima. Da bi zavariva mogao uoiti suptilne
varijacije u promjeni luka i zavarivakoj kupki te prilagodio uglove i brzinu gorionika
promjenljivim uslovma zavarivanja, mora imati isto i jasno vidno polje. Kao rezultat
ireg vidnog polja i jasnije slike sa dovoljnim zatamnjenjem zavariva radi due i
kvalitetnije zavarene spojeve uz manje umora i smanjenu mogunost oboljenja oiju.
Optiki kvalitet fotoosjetljivog vizira definisan je standardima BAS EN 166 i
BAS EN 379. Ovi standardi ugrauju vane ocjene za optike istoe fotoosjetljivih
vizira, a odreene su putem testova koji mjere prenos svjetla preko vizira za
zavarivanje, kao i odbijenog svjetla od slojeva zavarivake maske. Fotoosjetljivi viziri
prolaze evaluaciju u etiri vane kategorije, a sve se odnose na optike istoe. Svaka
kategorija se ocjenjuje na skali od 1 do 3, s rezultatom 1 najbolje (idealno) i rezultatom
3 - najgore.
Optika klasa (tanost vida). Kod loe izvedenih vizira dolazi do krivljenja
distorzije vidnog prostora. (vidi sliku 4). Ovaj razred definie kako je
iskrivljena slika kada se gleda kroz fotoosjetljivi vizir zavarivake maske.
Distorzija je minimalna ako se gleda kroz vizir ocjenjen sa 1.
Slika 4. Optika klasa se odnosi na valovitost slike u viziru [5]
Klasa difuzije svjetlosti. Ova ocjena se odnosi na neistoe zaostale u

staklu tokom proizvodnog procesa. Nedovoljno proziran i izgreban vizir daje
mutnu sliku bez dovoljne otrine (vidi sliku 5). Slika koja je mutna zamara
oi te je rezultat rada zavarivaa loijeg kvaliteta ili je skroz nekvalitetan.
Viziri ocjenjeni sa ocjenom 1 izraeni su od izrazito prozirnih materijala u
odnosu na onog sa neistoama. Neistoe su karakteristika jeftinih zavarivakih
maski.
260
Slika 5. Klasa difuzije svjetlosti odnosi na neistoe u viziru [5]
Klasa odstupanja transmisije svjetlosti (svjetla ili tamna podruja unutar

vizira). Ova ocjena se fokusira na podesivom, providnom - polaznom
zatamnjenju vizira. Zavarivake maske obino nude polaznu nijansu
zatamnjenja koja se prilagoava izmeu nivoa 4 i 14, s nivoom 4 kao
minimalnim dopustivim zatamnjenjem pri zavarivanju.
Da bi se ocijenile varijacije svjetlostnog prolaska pri zatamnjenju, ispituje se
konzistentnost zatamnjenja na razliitim mjestima vizira. Na primjer, ako se nijansa
zatamnjenja postavi na 11, pri ispitivanju preko vizira s lijeva na desno, gore ili dolje, ili
u uglovima, varijabilnost bi trebala biti neznatna. Nedosljednosti u zatamnjenju uticat
e na optiku jasnou, ostavljajui podruja koja su previe svijetla ili tamna (vidi sliku
6). Ocjena 1 znai da vizir ima minimalnu varijabilnost.
Slika 6. Klasa svjetlostne transmisije odraava ujednaenost

zatamnjenja u svakom podruju vizira [5]
Klasa zavisnosti ugla transmisije svjetlosti. Ova kategorija provodi

testove za jasan pogled bez istezanja, tamnih podruja, zamuenja ili
problema s gledanjem objekata pod uglom (vidi sliku 7). Slino kao i kod
klase varijacije trasmijisije svjetlosti, ova ocjena ispituje da li vizir prua
261
konzistentan nivo zatamnjenja pri gledanju pod uglom, ako se gleda prema
dole ili prema gore kroz vizir, kao to se vidi kada se gleda ravno kroz vizir.
Kod niih kvaliteta vizira, vizir esto potamni kada se pogleda pod uglom.
Pri gledanju kroz vizir ocjenjen sa 1, zatamnjenje ostaje identino, bez
obzira na ugao gledanja.
Slika 7. Ugao zavisnosti transmisije svjetlosti pri gledanju pod uglom [5]
4 ZAKLJUAK
Zavarivake zatitne maske sa fotoosjetljivim vizirom pruaju niz ugodnosti pri
radu zavarivaa te sve se vie koriste u praksi. Meutim, nedovoljno poznavanje
standarda o kvalitetu zavarivake zatitne opreme dovelo je do toga da se kupuje
jeftinija oprema koja ne garantuje kvalitet. Shodno tome, zbog slabog kvaliteta
zavarivakih maski i njihove neprilagoenosti uslovima rada zavarivai sve ee stiu
averziju prema ovom zatitnom sredstvu.
Izbor zavarivakih maski koje za fotoosjetljivi vizir, prema standardu BAS EN
379, nose oznaku klase kvaliteta 1/1/1/1 daju najistiju i najjasniju sliku, te su udobnost
i kvalitet rada zavarivaa vei a mogunost pojave oboljenja oiju manja.
LITERATURA
[1] BAS EN 166: 2003 Lina zatitna sredstva za oi Specifikacije
[2] BAS EN 169: 2007 Lina zatitna sredstva za oi - Filteri za zavarivanje i srodne
tehnike - Zahtijevi za propustljivost i preporuke za upotrebu
[3] BAS EN 175: 2001 Lina zatita - Oprema za zatitu oiju i lica pri zavarivanju i
srodnim postupcima
[4] BAS EN 379+A1: 2010 Lina zatitna sredstva za oi - Automatski zavarivaki
filteri
[5] 1+1+1+1 = Clarity, Everything you need to know about autodarkening helmet
optical clarity, http://www.thefabricator.com/article/safety/1-1-1-1-clarity ,
pristupljeno 9.8.2016.
[6] katalozi proizvoaa zavarivakih maski sa fotoosjetljivim vizirom
262
_____________________________________________________________________________
ZAVARIVANJE RADNOG TOKA ROTORNOG

BAGERA KRUPP C700
Nenad Bukejlovi1, Darijo Boikovi2, Zdravko Boikovi3
Rezime: U radu je prezentovana tehnolgija zavarivanja radnog toka rotornog bagera

KRUPP C700. Prikazan je redosled bitnih tehnolokih operacija zavarivanja elemenata
toka uz primjenu MAG postupka u zatiti plina. Zavareni su elini elementi kvaliteta
S355J2, a na povrinama izloenim habanju su zavarene ploice od elika poviene
tvrdoe Hardoks 450. Posebna panja je data zaostalim naponima koji su posledica
prije svega parametara i tehnologije zavarivanja. Prenik toka u konanom obliku je
6380 mm to je karakteristino za zavarene konstrukcije koje moraju zadovoljiti
propisane granice ekscentriciteta.
Kljune rijei: bager, pripajanje, rotorni, toak, zavarivanje
WELDING BUCKET WHEEL EXCAVATOR KRUPP C700

Abstract: The paper presents the technology of welding process of the bucket wheel
excavator Krupp C700. Bellow is the sequence of important technological operations
of welding elements with the use of MAG shielding gas. Elements quality S355J2 were
welded, and in areas that are exposed to wear we welded a steel plate with Hardoks
450 hardness. Special attention was given to residual stresses who were the result of
parameters and welding technology. The diameter of the wheel in the final shape is
6380 mm which is typical for the welded structures which must meet prescribed limits
eccentricity.
Key words:excavator, connecting, bucket-wheel, wheel, welding
1 UVOD
Produktivnost tehnikih sistema, kao to su rotorni bageri, u bitnoj mjeri zavise

od njegove pouzdanosti. BTO (Bager transporter odlaga), (slika 1) su danas
najrasprostranjeniji sistemi na povrinskim kopovima uglja u naem okruenju.
1 Mr. Nenad Bukejlovi, Krampitz International & Partner, Brod, BiH, RS, nenad.bukejlovic@gmail.com (CA)
2 Darijo Boikovi, inenjer mainstva, Kolektor Banja Luka
3 Prof. dr Zdravko Boikovi, Univerzitet u Istonom Sarajevu, Mainski fakultet, Istono Sarajevo, BiH, RS,
zdravko.bozickovic@gmail.com
263
Nenad Bukejlovi, Darijo Boikovi, Zdravko Boikovi
Slika 1. BTO sistem: a) rotorni bager , b) transporter, c) odlaga
Rotorni bager je najvanija i osnovna maina u tehnolokom lancu BTO.

Pojednostavljeno bager se moe razmatrati kroz podsisteme, bitne za razmatranje
pouzdanosti. Polazei od tehnologije rada bagera, utvreni su sledei podsistemi koji
neizostavno moraju biti u radu, kada bager obavlja svoju osnovnu funkciju: PS 1
podsistem kopanja, PS 2 trakasti transporter I, PS 3 trakasti transporter II, PS 4
trakasti transporter III, PS 5 podsistem za okretanje platforme bagera i PS6
podsistem za kretanje bagera. Rotorni bager ima rednu vezu izmeu podsistema, to
znai da otkazivanje bilo kojeg podsistema znai otkaz cjelokupnog sistema [2].
Slika 2. Radni toak u procesu rada
Tabela 1. Glavne karakteristike rotornog bagera C700 [3]

Rezna sila,
karakteristi
ke bagera
istresaja,
obrtaja,
rezanja
Glavne
Zapre Obimn
Brzina
N/cm
Prenik,
min-1
min-1
Broj
Broj
Broj
Snaga
m/s
mina, kW
a sila,
m vedrica
kW kN
C700 7,7 12 0,7 600 215 1000 72 2,42 6
2 OPIS PROBLEMA
Radni organ rotornog bagera rotorni toak, je u toku eksploatacije izloen
irokom spektru kako statikih, tako i dinamikih optereenja [5].
Tokom dugogodinje eksploatacije rotornog bagera moe se konstatovati da
dolazi do otkaza pojedinih elemenata sklopa rotornog toka, a koje se manifestuju
264
Zavarivanje radnog toka KRUPP C700
preko prskotina (pukotina) i lomova.

Podsistem za kopanje je najnepouzdaniji dio na bageru, te smanjenjem
intenziteta habanja radnih zuba, stiu se uslovi za smanjenje otpora rezanja, to
znatno utie na smanjenje naprezanja podsistema kopanja [6].
Podsistem kopanja uestvuje sa 51 % u ukupnom vremenu otkaza bagera.
Zatupljenjem reznih povrina na vedricama radnog toka, bager radi sa poveanim
otporom kopanja i do 30 %, a to dovodi do poveanog naprezanja podsistema
kopanja, to zahtjeva promjenu reima rada i smanjenje kapaciteta [2].
Slika 3. Priprema radnog toka za remont
3 DEFINISANJE TEHNOLOGIJE ZAVARIVANJA RADNOG TOKA
3.1 Izbor osnovnog materijala

Osnovni materijal od koga je izraen radni toak rotornog bagera C700 je
nelegirani konstrukcioni elik S355J2G3, a na povrinama izloenim habanju su
ugraenje ploice izraene od elika poviene tvrdoe Hardoks 450 sa sledeim
mehanikim karakteristikama.
Debljina ugraenog materijala je od 2 50 mm, a kvalitet materijala je
definisan u Tabeli 2.
Tabela 2. Mehanike karakteristike ugraenog materijala
Granica razvlaenja Reh Zatezna Minimalna Udarna

MPa vrstoa istezljivost A ilavost
Rm MPa % J
Vrsta Nominalna debljina Nominalna Nominalna debljina Temper.

materijala mm debljina C
16 16 40 63- 80 100 3- 10 3- 40 63 100 - 20
- - 80 - - 100 0- 40 - - -
355 34
40 3363 325 31 10 295
125 470- 45
12 22 21
63 20
10 18
125 27
S355 J2 5 5 5
0 630 0-
5 0
60
0 265
Tvrdoa HBW Granica razvlaenja MPa Udarna

ilavost
-20 J
Debljina 3-80 80-100 100-130 3-80 80-100 100-130
HARDOX 425-475 410-475 390-475 1100-1300 1050- 1000- 27

450 1300 1300
3.2 Izbor postupka zavarivanja

Zbog sloenosti konstrukcije zavarivanje je izvedeno runo poluautomatski
postupkom MAG s punom icom.
Mogue je primijeniti i druge postupke zavarivanja:
- MAG zavarivanje u zatiti plina M21 ( 82% Ar, 18% CO2),
- REL zavarivanje bazinom elektrodom,
- EPP automatsko zavarivanje pod prakom.
3.3 Izbor dodatnog materijala

Nakon odabranog postupka zavarivanja vri se odabir dodatnog materijala. Za
zavarivanje dijelova konstrukcije izraene od elika S355J2 odabrana je puna ica EZ
CO2 firme ELEKTRODA ZAGREB. To je pobakarena ica za zavarivanje u zatitnoj
atmosferi CO2 ili Ar/CO2 mjeavini. Namjenjena je za zavarivanje nelegiranih ili
niskolegiranih elika vrstoe do 590 N/mm 2.
U tabeli 3 prikazane su mehanike karakteristike pune ice.
Tabela 3. Mehanike karakteristike pune ice

Granice razvlaenja Vlana vrstoa ilavost ( J )
Istezljivost A5 ( % )
N/mm2 N/mm2 v - utor
- 20C
> 430 510 - 590 > 22 > 80
3.4 Izbor parametara za zavarivanje i oblika ava za zavarivanje

Na konstukciji su primjenjeni sueoni spojevi V i X, dvostruki ugaoni spojevi,
ugaoni spojevi sa djeliminom penetracijom i ugaoni K spojevi sa punom penetracijom.
Sueono zavarivanje krunih prstenova toka izvedeno je u horizontalnoj ravni
runim elektrolunim postupkom sa kontrolom temperature zavarivanja.
Iz montane dokumentacije primijenjeni su V ljebovi pod uglom od 60 o a za
ploe deblje od 8 mm primijenjen je X ljeb.
Tabela 4. Parametri zavarivanja i ostvareni tehnoloski rezultati

Vrsta ice Struja Napon Brzina ice Vrsta Protok Brzina
zavarivanja zavarivanja (m/min) zatitnog plina zavarivanja
(A) (V) plina (l/min) (cm/min)
(l/min)
EZ CO2 140 18 6,5 M21 12-15 30
180 21 7,5 M21 12-15 40
180 20 7,5 M21 12-15 40
266
Slika 4. Skica pripreme zavarenog spoja
3.5 Definisanje redosleda operacija zavarivanja radi otklanjanja deformacija

toka
Da bi se obezbijedila radijalna i aksijalna centrinost toka izraen je pristroj za
centriranje radnog toka zajedno sa postoljem, slika 5.
Slika 5. Pristroj za centriranje toka Slika 6. Zavarivanje pozicija glavine toka

bagera C700
Na pristroju se pripajaju pozicije u sklop koje sainjavaju glavinu toka.

Prilikom pripajanja ostavlja se zazor za obezbjeenje potpune penetracije, a po
zavretku pripajanja izvodi se zavarivanja na pozicioneru, slika 6.
Rotorni toak bagera C700 se sastoji iz tri cjeline: centrali dio, slika 4; dva
bona segmenta i tijelo radnog toka slika 5
Slika 7. Skica centralnog dijela Slika 8. Skica bonih segmenata

toka
267
Radni toak je prenika 6380 mm i izraen iz tri cjeline radi lake manipulacije i
lake kontrole deformacija dijelova toka usljed temperaturnih promjena u procesu
zavarivanja. Formiranje sklopa toka se vri na terenu.
Redosled izvodjenja zavara prestavljen je na slici 10 .
Po zavretku zavarivanja pristupa se mehanikoj obradi glavine i postizanju
tolerisanih dimenzija. Na zavarenu glavinu se u pozicioneru postavljaju donji limovi,
rebra (Slika 9), gornji pokrivni lim kao i obodni lim (Slika 10).
Slika 9. Pripojen donji lim i rebra
Slika 10. Zavaren centralni dio radnog toka
Redosled pripajanja pozicija se sastoji od podnih limova, rebara, kosih limova i

na kraju obodnih limova (Slike 11, 12).
268
Slika 11. Boni segmenti u procesu zavarivanja
Slika 12. Sklop radnog toka
Nakon sastavljanja cjelokupnog tijela radnog toka, boni segmenti se rastavljaju i

zavaruju svaki zasebno prema definisanom redosljedu zavarivanja (Slika 10).
4 KONTROLA PROCESA ZAVARIVANJA

Kvalitet zavarenih spojeva je definisan u konstrukcionim nacrtima i u skladu sa
standardima EN 25817 / C odnosno EN 25817 / B u sluajevima zavara sa punom
penetracijom.
Svi zavareni spojevi na konstrukciji su obraeni WPS om. WPS ovi se
izrauju prema tipovima spojeva i rasponu debljina materijala. U WPS u je definisan
tip spoja, debljina i vrsta osnovnog materijala, dodatni materijal za zavarivanje, nagib
pitolja, struja, napon i brzina zavarivanja, brzina ice itd.
Dimenzije zavarene konstrukcije praene su tokom izvoenja zavarivanja kako
bi se obezbijedila montanost sklopa sa elementima bagera.
269
Kvalitet zavarenih spojeva definisan je standardom EN 25817/C za sve zavare

osim za one koji su na crteu bili definisani standardom EN 25817/B.
Ispitivanje zavarenih spojeva je izvreno vizuelnim pregledom te
penetrantskom i radiografskom kontrolom.
Kvalitet proizvoda je obezbijeen nadzorom nad izvoenjem zavarivanja.
Kontrola se izvodila po sledeim takama:
verifikacija pristroja, predloene tehnologije izrade i montae kompletnog
tijela toka,
kontrola montae centralnog dijela tijela toka dimenziona kontrola,
kontrola zavarenih spojeva metodama bez razaranja,
kontrola montanosti kompletnog tijela toka dimenziona kontrola,
kontrola radijalnog i aksijalnog odstupanja dimenzija tijela toka kao i
vizuelni pregled montanih zavara izvedenih kod kupca.
5 ZAKLJUAK
U radu su prikazane mogunosti izrade velikih tokova za nosive konstrukcije
procesom zavarivanja. Potpuna ocjena stanja radnog toka rotornog bagera je
dokazana u radnim uslovima Rudnika i termoelektrane Stanari. Dobijeni su neophodni
podaci za poreenje kvaliteta uraenog radnog toka sa ostalim dijelovima nosee
konstrukcije rotornog bagera.
LITERATURA
[1] Popovi M., Jugovi Z., Slavkovi R., Zdravkovi N. (2009). Abrazivno habanje
reznih zuba i pouzdanost rotornog bagera
[2] Jovani P., Tanasijevi M. (2004). Ponaanje konstrukcije radnog organa
rotornog bagera
[3] Tehnika dokumentacija rotornog bagera
[4] "RUDARSKE MAINE (2009). Skripta za studente rudarskog odsjeka",
Rudarsko geoloki fakultet, Univerzitet u Beogradu,
[5] Arsi M., Aleksi V., Mladenovi M. (2006). Otkazi i metodoloki pristup sanaciji
oteenja zavarene nosee konstrukcije bagera dreglajna
[6] Arsi M., Aleksi V., Radakovi Z., (2008). Uticaj zaostalih napona u zavarenom
spoju na otkaz rotornih bagera
270
_____________________________________________________________________________
RESEARCH OF CUT QUALITY WHEN CUTTING CARBON STEEL

WITH ABRASIVE WATER JET
Miroslav Radovanovi1
Abstract: Research of cut quality when cutting carbon steel with abrasive water jet is
proposed in this paper. Full factorial design with three factors (abrasive flow rate,
traverse rate and standoff distance), each on two levels, and center point was used for
experimental research of cut quality performances: perpendicularity deviation and
surface roughness. nalysis of variance was performed to determine the influence of
factors on cut quality performances. Regression analysis was applied to find correlation
between cut quality performances and factors.
Key words: Abrasive water jet cutting, cut quality, perpendicularity, surface roughness
1 INTRODUCTION
Abrasive water jet (AWJ) cutting is a machining technology that enable contour
cutting a wide range of materials and thickness. Abrasive water jet cutting has
advantages over the other contour cutting technologies, such as no thermal distortion,
no heat affected zones, high machining versatility, minimum stresses on the workpiece,
high flexibility, small cutting forces, and has been proven to be an effective technology
for processing various engineering materials and wide spectrum of thickness.
Tolerances of 0.1 mm can be realized in metal cutting. In abrasive water jet cutting high
pressure supply line directs the pressurized water from the high pressure pump via
accumulator to the cutting head. Cutting head consists of orifice, mixing chamber and
focusing tube. Orifice is with diameter of 0.15 to 0.35 mm and is made of sapphire, ruby
or diamond. Focusing tube is with diameter of 0.54 to 1.1 mm, length of 50 to 100 mm,
and is made of hard metal. Water is pressed out of the orifice in form of very thin jet at a
speed of approximately 900 m/s when pressure is 400MPa. Solid abrasive particles are
added and mixed with the water jet in the mixing chamber of the cutting head creating
abrasive water jet. Abrasive water jet is focused by a focusing tube. Focusing tube
directs the abrasive water jet to cut the workpiece. Abrasive water jet cuts workpiece
along the programmed contour using CNC (computer numerical control) mechanical
system for movements of the machine. Scheme of abrasive water jet cutting is shown in
Figure 1.
1PhD Miroslav Radovanovi, Full professor, University of Ni, Faculty of Mechanical Enginneering, Ni,
Serbia, mirado@masfak.ni.ac.rs
271
Miroslav Radovanovic
Figure 1. Scheme of AWJ cutting
For the evaluation of AWJ cutting process, the greatest influence has a group of
geometric characteristics, as determined by the geometric layout of the part. The
geometric characteristics of the part are: dimensional accuracy, shape accuracy and cut
quality. Terms related to kerf and cut surface in abrasive water jet cutting, according
ISO/TC 44 N 1770, are shown in Figure 2. [5].
Ra-surface roughness, f-pitch of drag line, g-burr, hf-fine cut, hr-remaining

surface, n-drag line, rk-edge radius, s-jet direction, sb-jet affected zone, t-
workpiece thickness, u-perpendicularity or angularity tolerance
Figure 2. Terms related to kerf and cut surface
272
Research of cut quality characteristics when cutting carbon steel with abrasive water jet
There are some studies regarding on cut quality in abrasive water jet cutting.
Ramulu M. and Arola D. in [1] was conducted an experimental research to determine the
influence of cutting factors (pressure, standoff, traverse speed, grit size, grit flow rate)
on the surface roughness and kerf taper of an abrasive water jet machined
graphite/epoxy laminate. Babu M. and Chety K. in 2 investigated the effect of factors
(mesh size of abrasives, water pressure, traverse rate and abrasive flow rate) on cut
quality performances (depth of cut, kerf width, kerf taper and surface roughness). Alberdi
A. et al. in [3] studied the effect of the abrasive water jet process parameters (material,
thickness, traverse feed rate/separation speed, cutting condition) on the quality of cut
taper and surface roughness. Maros Z. in [4] studied the influence of cutting factors
(water pressure, abrasive mass flow rate, traverse rate) on depth of kerf and surface
roughness in abrasive water jet cutting of aluminum alloy.
2 AWJ CUTTING FACTORS AND PERFORMANCES

AWJ cutting process is characterized by a large number of process factors that
determine performances such as: productivity, economy and quality. It is a complex
process since the mechanism of material removal depends on the level of various
process factors and is explained by multiple phenomena. AWJ cutting factors can be
classified into six categories:
Workpiece factors (material type, thickness, chemical structure, hardness,
toughness, grain size),
High pressure pump factors (pump pressure, water flow rate, water purity,
accumulator volume),
Abrasive factors (material type, hardness, abrasive particle diameter,
abrasive particle shape, abrasive particle size distribution),
Cutting head factors (orifice diameter, orifice material, focusing tube
diameter, focusing tube length, focusing tube material),
Factors of system for movement (precision, accuracy, stiffness, working
conditions),
Process factors (water pressure, traverse rate, abrasive mass flow rate,
standoff distance, impact angle, traverse direction).
The abrasive water jet cutting performances can be classified into five
categories:
Process performances (orifice wear, focusing tube wear, temperature, noise,
vibration),
Quality performances (form deviations, dimension deviations, cut quality: kerf
depth, kerf width, perpendicularity deviation of the cut surfaces (kerf taper),
surface roughness, dragline lag, edge radius, burr, jet affected zone),
Productivity performances (machining time, productivity),
Economy performances (manufacturing cost, power consumption), and
Ecology performances (noise, pollution, recycling, health risk).
The most important quality performances in AWJ cutting, from which depend
workpiece shape, tolerances of dimensions, and quality of cut, are: perpendicularity
deviation and surface roughness. Perpendicularity deviation of the cut surfaces (kerf
taper) is distance between two parallel straight lines (tangents) between which the cut
surface profile is inscribed, and within the set angle (e.g. 90 in the case of vertical cuts).
Perpendicularity deviation includes and the flatness deviations. Surface roughness is a
measure of the technological quality of the cut. Commonly arithmetic average roughness
273
(Ra) was used to describe surface roughness. Ra is defined as the arithmetic value of
the profile from centerline along the sampling length.
3 EXPERIMENTAL RESEARCH
Experimental research was planed and realized in order to define regression
equations for perpendicularity deviation and surface roughness. The equipment used for
machining the samples was abrasive water jet cutting machine Hydro Jet Eco 0615 with
pump pressure of 150 MPa, power of 7.5 kW, and water flow rate of 2.4 l/min. Cutting
head is with orifice diameter of 0.35 mm, made of sapphire, and a focusing tube diameter
of 1.02 mm and length of 76 mm, made of hard metal. All experiments were conducted
with water pressure of 150 MPa. Abrasive material is Garnet mesh 80 ( 177 m).
Workpiece material used in experimental tests was carbon steel EN S235 with thickness
of 6.5 mm. Design of experiment was conducted using full factorial design 23, three
factors each on two levels, with center point. Control factors are: abrasive flow rate (m a),
traverse rate (vf), and standoff distance (h). Control factors and their levels are shown in
Table 1. [6]
Table 1. Control factors and levels

Levels
Code Control factors
-1 0 +1
A Abrasive flow rate, ma (g/min) 300 500 700
B Traverse rate, vf (mm/min) 50 100 150
C Standoff distance, h (mm) 1 3 5
Investigated performances are: perpendicularity deviation (u), and surface

roughness-arithmetic average roughness (Ra). Three control factors are arranged in
design of experiment with 9 runs (8 runs are for base design and 1 run for center point).
Full factorial design of experiment 23 with center point and measured values of
perpendicularity deviation (u) and surface roughness (Ra) are presented in Table 2.
Table 2. Design of experiment and results

Control factors u Ra
Run
A B C (mm) (m)
1 -1 -1 -1 0.07 4.12
2 -1 -1 1 0.11 4.50
3 -1 1 -1 0.17 5.18
4 -1 1 1 0.14 5.13
5 1 -1 -1 0.20 4.23
6 1 -1 1 0.21 4,45
7 1 1 -1 0.30 4.99
... ... ... ... ... ...
9 0 0 0 0.26 4.22
Analysis of variance (ANOVA) was carried out to find the relative effect of factors
and interactions on perpendicularity deviation and surface roughness.
Factors have significant effect on performance if p<0.05. Factors have not
significant effect on performance if p>0.10.
Analysis of variance for perpendicularity deviation (u) is shown in Table 3.
Standard F table value at 95% confidence level is F0.05,1,3=10.13.
274
Research of cut quality characteristics when cutting carbon steel with abrasive water jet
Table 3. Analysis of variance for u

Source DF SS MS F p %
Main effects 3 0.0718375 0.0239458 261.23 0.000 90.28
A 1 0.0276125 0.0276125 301.23 0.000 34.70
B 1 0.0406125 0.0406125 443.05 0.000 51.04
C 1 0.0036125 0.0036125 39.41 0.008 4.54
2-Way Interactions 3 0.0058375 0.0019458 21.23 0.016 7.34
AB 1 0.0010125 0.0010125 11.05 0.045 1.27
AC 1 0.0045125 0.0045125 49.23 0.006 5.67
BC 1 0.0003125 0.0003125 3.41 0.162 0.39
3-Way Interaction 1 0.0015125 0.0015125 16.50 0.027 1.90
ABC 1 0.0015125 0.0015125 16.50 0.027 1.90
Curvature 1 0.0001042 0.0001042 1.14 0.365 0.13
Error 3 0.0002750 0.0000917 - - 0.34
Total 11 0.0795667 - - - 100
DF - degree of freedom, SS - sum of square, MS - mean square,
F - variance ratio, p value, and % - percent contribution
From the Table 3, it is seen that factors: abrasive flow rate, traverse rate and
standoff distance and interactions: abrasive flow rate-traverse rate, abrasive flow rate-
standoff distance, abrasive flow rate-traverse rate-standoff distance, have significant
effect on perpendicularity deviation. Regression equation for perpendicularity deviation
(u), with coefficient of determination of R2=99.65%, is:
u 0.106562 0.000434375m a 0.00283125v f 0.0090625h
(1)
0.0000031875m a v f 0.000009375m a h 0.0000006875m a v f h
Analysis of variance for surface roughness (Ra) is shown in Table 4. Standard F
table value at 95% confidence level is F0.05,1,3=10.13.
Table 4. Analysis of variance for Ra

Source DF SS MS F p %
Main effects 3 1.33330 0.44443 4848 0.000 65.39
A 1 0.06845 0.06845 746 0.000 3.36
B 1 1.26405 1.26405 13789 0.000 61.99
C 1 0.00080 0.00080 8.73 0.060 0.04
2-Way Interactions 3 0.03225 0.01075 117 0.001 1.58
AB 1 0.02645 0.02645 288 0.000 1.30
AC 1 0.00080 0.00080 8.73 0.060 0.04
BC 1 0.00500 0.00500 54.55 0.005 0.24
3-Way Interaction 1 0.02000 0.02000 218 0.001 0.98
ABC 1 0.02000 0.02000 218 0.001 0.98
Curvature 1 0.65340 0.65340 7128 0.000 32.04
Error 3 0.00028 0.00009 - - 0.01
Total 11 2.03922 - - - 100
From the Table 4, it is seen that factors: abrasive flow rate, traverse rate and
standoff distance, and interactions: abrasive flow rate-traverse rate, abrasive flow rate--
standoff distance, traverse rate-standoff distance and abrasive flow rate-traverse rate-
275
standoff distance, have significant effect on surface roughness. Regression equation for
surface roughness (Ra), with coefficient of determination of R2=99.99%, is:
R a 3.01125 0.0017125m a 0.015325v 0.1325h 0.00001325m a v
(2)
0.000225m a h 0.0015vh 0.0000025m a vh
4 CONCLUSION
The most important quality performances in AWJ cutting from which depend
tolerances of dimensions and quality of cut are: perpendicularity deviation and surface
roughness. Regression equations, for performances (perpendicularity deviation and
surface roughness) in relation of factors (abrasive flow rate, traverse rate and standoff
distance), in polinomial form, have defined using experimental research. Coefficients of
determination of R2=99.65% and R2=99.99%, respectively for perpendicularity deviation
and surface roughness, show strong correlation.
ACKNOWLEDGMENT
The paper is a result of the technological project TR35034 which is supported by
the Ministry of Education, Science and Technological Development of Republic of
Serbia.
NOMENCLATURE
Ra surface roughness, m
h standoff distance, mm
ma abrasive flow rate, g/min
u perpendicularity deviation, mm
vf traverse rate, mm/min
REFERENCES
[1] Ramulu, M., Arola, D. (1994), The influence of abrasive waterjet cutting conditions
on the surface quality of graphite/epoxy laminates, International Journal of Machine
Tools and Manufacture, Vol.34, Issues 3, p.p.295-313
[2] Babu, M., Chety, K. (2006) A study on the use of single mesh size abrasives in
abrasive water jet machining, International Journal of Advance Manufacturing
Technology, Vol.29, p.p. 532-540
[3] Alberdi, A., Suarez, A., Artaza, T., Escobar-Palafox, G., Ridgway, K. (2013),
Composite cutting with abrasive waterjet,Procedia Engineering,Vol.63,p.p.421429
[4] Maros, Z. (2012), Taper of cut at abrasive water jet cutting of an aluminum alloy,
Journal of Production Processes and Systems, Vol. 6, No. 1, p.p. 55-60
[5] ISO/TC 44 N 1770 (2010), Water jet cutting-Geometrical product specification and
quality
[6] Herghelegiu, E. (2011), Contributions to the optimization of the water jet working
parameters, Dissertation, University Vasile Alecsandri of Bacau, Romania
276
_____________________________________________________________________________
AGENTSKE STRUKTURE ZA IMPLEMENTACIJU

SOCIJALNO-KIBERNETSKO-FIZIKIH RADNIH SISTEMA
Elvis Hozdi1, Emine Hozdi2
Rezime: Savremena proizvodna preduzea pod utjecajem globalnih mega trendova

nastoje biti uspjena zadravajui svoju konkurentnost. U tim nastojanjima prinuena
su svoje proizvodne strukture prilagoditi izazovima savremenog trita. Prilagoavanje
proizvodnih struktura iziskuje kontinuirano razvijanje konceptualnih rjeenja kao
odgovora na postavljene trine zahtjeve. Na osnovama takvih okolnosti utemeljeni su
koncepti kibernetskih struktura naprednih proizvodnih sistema. U kibernetskim
konceptima agentske i multi-agentske strukture imaju izniman znaaj. Rad prikazuje
segment koncepta kibernetskih struktura proizvodnih sistema i agentske potpore za
razvoj i implementaciju naprednih struktura kibernetsko-fizikih proizvodnih sistema.
Kljune rijei: agent, autonomni radni sistem, kibernetsko-fiziki radni sistem
AGENT STRUCTURES FOR SOCIO-CYBER-PHYSICAL WORK SYSTEMS

IMPLEMENTATION
Abstract: Modern manufacturing companies under the influence of global mega trends
tend to be successful while maintaining their competitiveness. And these efforts are
forced to adjust its production structure challenges of today's market. Adjusting
production structures requires continuous development of conceptual solutions in
response to set market demands. On the basis of these circumstances the concepts of
cyber structure of advanced production systems. In cybernetic concepts agent and
multi-agent structure have an exceptional character. The paper presents a segment of
the concept of cyber structure of production systems and agent support for the
development and deployment of advanced cyber-physical structure of production
systems.
Key words: agent, autonomous work system, cyber-physical work system
1 PhD candidate Elvis Hozdi, University of Ljubljana, Faculty of Mechanical Engineering, Ljubljana,
Slovenija, ehozdic@yahoo.com
2 Student, Emine Hozdi, University of Ljubljana, Faculty of Mechanical Engineering, Ljubljana, Slovenija,
emine_hozdic@yahoo.com
277
Elvis Hozdi, Emine Hozdi
1 UVOD
Procesi sveobuhvatne globalizacije uplivaju na sve svere ljudskog ivota. Ti
uplivi imaju velik utjecaj i na industrijsku proizvodnju, kako razvijenih industrijskih
zemalja tako i zemalja u tranziciji. Eksponencijalni razvoj informacijsko-komunikacijskih
tehnologija i semantikih web tehnologija znaajno se preslikava u domenu industrijske
proizvodnje [1]. Proizvodna preduzea svoje proizvodne strukture prisiljena su
prilagoavati izazovima nove industrijske revolucije Industrije 4.0 [2], [3].
Predstavljeni lanak, oslikava segment konceptualizacije kibernetskih struktura
proizvodnih sistema [4] sa akcentom na socijalne komponente, te vjetaku
inteligenciju u kolaborativnom sistemu, koja se razvija u okviru istraivakog rada
grupe autora na Fakultetu za strojnitvo u Ljubljani, a na tematiku stvaranja modela
kibernetsko-fizikih proizvodnih sistema.
2 KIBERNETSKO-FIZIKE STRUKTURE PROIZVODNIH SISTEMA

Kibernetsko-fiziki sistemi (KFS) su nova generacija sistema koji integriraju
raunarske i fizike sposobnosti [5]. Kibernetski sistemi predstavljaju zbir logike i
senzorskih jedinica, dok su fiziki sistemi zbir aktivatorskih jedinica. Kroz sposobnost
za interakciju i proirenje sposobnosti fizikog svijeta koristei raunarsku snagu,
komunikacijske tehnologije i kontrolne mehanizme, KFS omoguuju povratne petlje,
poboljanje proizvodnih procesa i optimalnu podrku ljudima u svim procesima
donoenja odluka. Oni postavlju temelje za pouzdano planiranje proizvodnje prema
unaprijed automatizovanim proizvodnim procesima uz mogunost za razmjenu i
prenos informacija [6]. Koritenjem odgovarajue senzorske tehnologije, KFS su u
mogunosti primiti izravno fizike podatke i pretvoriti ih u digitalne. Oni omoguavaju
dijeljenje informacija na digitalnim mreama, tvorei na taj nain Internet stvari. Prva
podruja primjene KFS u industrijskoj proizvodnji svakako su podruja robotike i
mehatronike, te adaptivnih distribuiranih proizvodnih sistema. Implementacija KFS e
biti presudna za efikasan razvoj i rad autonomnih, samoupravnih, proizvodnih sistema
temeljenih na znanju i senzorima [7].
Kibernetsko-fiziki proizvodni sistemi (KFPS), utemeljeni na KFS, se sastoje od
autonomnih i kooperativnih elemenata i podsistema, koji se povezuju komunikacijama i
interakcijama u razliitim situacijama, na svim razinama proizvodnje, od maina,
procesa do proizvodnih i logistikih mrea. KFPS, oslanjajui se na najnoviji razvoj
raunarskih znanosti, informacijskih i komunikacijskih tehnologija, proizvodne znanosti
i tehnologije, nedvojbeno mogu dovesti do nove industrijske revolucije, ili esto u
naunim krugovima nazvanoj Industrija 4.0. Razvoj KFPS utemeljen je na postojeim
instaliranim sistemima, preko umreenih instaliranih sistema integrisanih internetom.
Temeljna postavka u pogledu KFPS ogleda se u istraivanju i definisanju odnosa kroz
prizmu autonomnosti, kooperativnosti, optimizacije i odziva na postavljene zadatke.
Integracijom analitikih i simulacijskih baziranih pristupa mogue je ta predvianja
opisati temeljitije nego bilo kada ranije. Ovakvi sistemi se moraju suoiti sa nizom
novih izazova u pogledu operativnih senzorskih mrea, pametnih aktuatora, baza
podataka i mnotva drugih, prije svega, komunikacijskih protokola. Novi nain
komunikacije izmeu ovjeka i maina mora biti uspostavljen ve pri samoj
implementaciji novih kibernetsko-fizikih proizvodnih sistema [8]. Savremene
tehnologije omoguuju stvaranje inteligentnih interfejsa koji obezbjeuju komunikaciju
fizikih i apstraknih sistema sa sistemom ovjeka subjekta. Na ovakvim osnovama
definirani su osnovni gradbeni elementi adaptivnih distribuiranih proizvodnih sistema
kroz koncepte socijalno-kibernetsko-fizikih proizvodnih sistema (SKFPS):
278
Agentske strukture za implementaciju socijalno-kibernetsko-fizikih radnih sistema
elementarnog socijalno-kibernetsko-fizikog radnog sistema (ESKFRS) [9] i koncept

autonomnog socijalno-kibernetsko-fizikog radnog sistema (ASKFRS) [4].
2.1 Elementarni socijalno-kibernetsko-fiziki radni sistem

Koncepti SKFPS proizlazi iz prethodnih istraivnja i postavljenih koncepta
elementarnog radnog sistema (ERS) [10], preko virtualnog radnog sistema (VRS) [11]
i konceptiranog Business-to-manufacturing (B2NM) sistema [12]. Za strukturiranje
koncepta SKFRS, posluila je generika osnova elementarnog virtualnog radnog
sistema. Takav sistem danas je mogue prestrukturirati u ESKFRS, slika 1.
Ovakav radni sistem, prikazan na slici 1, se sastoji iz tri osnovne cjeline:
fiziki sistem kao elementarni radni sistem (obradni centar ili vie njih,
sistemi pozicioniranja, automatizovani stezni pribori, mjerni sistemi i sl.),
kibernetski (apstraktni) sistem koji u osnovi ine agentski sistemi
(upravljaki sistemi, oprema za koordiniranje senzorskih sistema i sl.),
socijalni sistem u kom se nalaze radnici, operateri koji upravljaju i nadziru
rad proizvodnog sistema u cjelini.
Slika 1. Elementarni socijalno-kibernetsko-fiziki radni sistem [4]
Fiziki radni sistem (FRS) predstavlja funkcionalnu cjelinu koja se sastoji od

procesa, naprave za izvoenje procesa (NIP), kontrolora i komunikacijskog interfejsa
preko kojeg se povezuju druge dvije komponente ESKFRS. Komunikacijski interfejs
koji povezuje fiziku i kibernetsku komponentu ESKFRS ima ulogu mapiranja stanja
ERS, dok inteligentni komunikacijski interfej ima ulogu povezivanja ljudske
komponente ESKFRS sa druge dvije komponente novog sistema. Fiziki sistem
predstavlja sistem aktuatora i senzora, to ga ini pametnim sistemom, a to mu
omoguuje komunikaciju sa kibernetskim svijetom.
Kibernetski svijet ine agenti preko kojih se vri upravljanje, nadzor i kontrola
279
procesa koji se odvijaju u fizikom sistemu. U kibernetskom svijetu stvaraju se

platforme za multi-agentske sisteme (MAS) koji imaju zadau:
konfiguratora fizikog sistema koji omoguava rekonfigurabilnost fizikog
sistema,
planera i koordinatora radnih aktivnosti fizikog sistema,
inteligentnih interfejsa koji ostvaruju spregu izmeu kibernetskog i humanog
svijeta s jedne, i kibernetskog i fizikog svijeta sa druge strane.
Socijoloka komponenta novog koncepta sistema je novi dodatak na koncept
KFPS i iziskuje potrebu za opsenijim elaboriranjem i opisivanjem. Opis uloge subjekta
u SKFPS utemeljen je na teoriji socio-tehnikih sistema koja je svoje mjesto zauzimala
u svakom ranijem konceptu.
2.2 Autonomni socijalno-kibernetsko-fiziki radni sistem

Razvoj autonomnih socijalno-kibernetsko-fizikih radnih sistema (ASKFRS)
predstavlja nastavak evolucije organizacijskih proizvodnih struktura kompleksnih i
adaptivnih distribuiranih proizvodnih sistema. Polazna osnova za konceptiranje i
strukturiranje ASKFRS proizala je iz autonomnog radnog sistema (ARS) [13].
ARS je sistem s relativno jednostavnom strukturom, s autonomnim
ponaanjem, sposoban izvoditi dodijeljene zadatke i istovremeno sposoban
autonomno djelovati u mrei. Autonomija ARS je okarakterizirana s njegovim
specifinim kompetencama u smislu, znanja, iskustva i resursa, te sa odgovornou za
donoenje odluka u sopstvenom radu, bez uputa iz vanjskog svijeta.
Slika 2. Autonomni socijalno-kibernetsko-fiziki radni sistem [4]
280
ASKFRS, prikazan na slici 2, integrira elemente tri mrena sistema

strukturirana u prostoru, i to: socijalni sistem u kojem egzistira subjekt, kibernetski
sistem u kojem se grade kolaborativni podsistemi kao virtualni element ASKFRS i
fiziki sistem koji povezuje razliite FRS. Integracija elemenata takvih mrenih sistema
obezbijeuju funkcionalnu kompetenciju ASKFRS koja je potrebna za izvoenje
procesa.
Napredni proizvodni sistemi utemeljeni na integraciji fizikog i kibernetskog
podsistema i podsistema ljudi stvaraju mrene SKFRS, koje predstavljaju suelje
izmeu proizvodnih mrea s jedne i socijalnih, drutvenih mrea s druge strane.
Ovakvi mreni sistemi djeluju u pametnom proizvodnom okruenju. Pametno okruenje
integrira socijalno-kibernetsko-fizike elemente omoguavajui im meusobne
interakcije. Te interakcije se odvijaju izmeu dodijeljenih agenata [14].
2.3 Agentske i multi-agentske tehnologije

Agentski i multi-agentski sistemi predstavljaju najprirodniji i najdoslijedniji
postojei pristup za implementaciju adaptivnih distribuiranih proizvodnih sistema i
njihovih koncepata.
Agenti [15] predstavljaju softverske komponente postavljene u distribuirano
okruenje, koje su u stanju da autonomno obrauju velike koliine informacija, a da pri
tome pruaju izvjesnu koliinu inteligencije i sposobnosti komunikacije.
Autonomni agent je sistem koji je dio nekog okruenja i koji osjea to
okruenje, radi unutar njega tokom vremena, a u cilju ispunjenja sopstvenog cilja [16].
Inteligentni agenti su softverski entiteti koji izvravaju odreeni skup operacija u
korist korisnika ili drugog programa sa izvjesnim stepenom nezavisnosti, a za to koriste
izvjesno znanje ili reprezentaciju korisnikovih elja ili ciljeva. Svakog agenta, dakle,
karakteriu njegova autonomija i inteligencija. Autonomija je mogunost samostalnog
djelovanja agenta i moe se mijeriti njegovom interakcijom sa drugim entitetima.
Inteligencija je stepen razumijevanja i uenja [17].
Agentska okruenja predstavljaju programska okruenja koja upravljaju
ivotnim ciklusom agenta i obezbjeuju mu sve navedene mehanizme za realizaciju
dodjeljenih mu zadataka (komunikacija, mobilnost, koordinacija, kooperacija i sl.).
Postoje mnogobrojni pristupi u implementaciji agentskih okruenja zasnovani na
razliitim agentskim tehnologijama. Razvoj agentske tehnologije na meunarodnom
nivou definira FIPA (Foundation for Intelligent Physical Agents) [15].
Temeljne osobine agenata, kao to su reaktivnost, proaktivnost, autonomnost,
kooperativnost, adaptivnost i mobilnost, definirane su u radovima [18], [19].
MAS [19] je sistem koji se sastoji od skupa inteligentnih agenata koji surauju
pomou definiranih komunikacijskih protokola te su sposobni utjecati na svoju okolinu.
Svaki agent ima definirano podruje djelovanja nad kojim ima odreenu koliinu
kontrole tj. koliinu utjecaja.
3 AGENTSKE STRUKTURE ZA IMPLEMENTACIJU ASCPWS

Potporu za implementaciju koncepta ESKFRS i ASKFRS predstavljaju
informacijski sistemi utemeljen na tehnologijama agentski i multi agentskih sistema,
web tehnologija, kibernetskih funkcijskih blokova, te sistema integrativne baze
podataka i znanja (eng. Data & Knowledge base - D&K base) i njenog upravljanja.
Za informacijsko povezivanje elemenata ESKFRS i njegovu implemenatciju u
konceptu SKFPS implementiran je MAS, s odgovarajuim informacijsko-
komunikacijskim interfejsima te integrisanom D&K bazom. Primjena agentskih
281
struktura u proizvodni domen donosi odluivanje koje se bre prilagoava na promjene

u proizvodnom sistemu i manje je osjetljivo na poremeaje. Iz tih prednosti primjena
agentskih sistema u savremenim proizvodnim sistemima ima sve vei znaaj.
Struktura MAS je prikazana na slici 3, s pripadajuim agentima i
infrastrukturom JADE okruenja. JADE obezbijeuje distribuiranu multi-agentsku
platformu. Platformska JADE infrastruktura obezbjeuje kontainere u kojim egzistiraju
agenti i agentski sistemi, te predstavljaju instance JADE izvrnog okruenja.
U kontainer subjekta smjeteni su agenti subjekta koji ga zastupaju u
kibernetskom okruenju. Subjekt ustupa preko svojih agenta u kibernetski prostor,
komunicira sa ostalim agentima i ustupa u kibernetske funkcijske blokove pri realizaciji
pojedinani operativnih i kolaborativnih funkcionalnosti.
Kontainer kibernetskog servisnog sistema omoguava egzistenciju mobilnih i
kolaborativnih servisnih agenata. Mobilni agenti posjeduju svojstvo mobilnosti to im
omoguava samostalno kretanje kroz mreno okruenje radi izvrenja povjerenih
zadataka. Dabi se realizirala mobilnost agenta neophodno je postojanje mogunosti
konvertovanja koda agenta i njegovog stanja u formu pogodnu za prenos preko mree.
Mobilnost agenta omoguuje kretanje agenta sa jednog server na drugi, kao to su
server baze podataka ili kolaborativna okruenja. Kolaborativni servisni agenti su u
kooperaciji sa drugim agentima koji egzistiraju u MAS i brinu za servisnu potporu
ASKFRS. U koordinaciji rada sa drugim agentima, agentskim grupama, web servisima,
ovakvi agenti imaju mogunost pregovaranja i dogovaranja to ih ini adekvatnim za
ustupanje u kolaborativna okruenja.
Kontainer virtualnog radnog sistema ine agenti VWS koji prezentuju stanja
fizikih sistema u kibernetski sistem. VWS definiran je u konceptu kibernetskih
struktura [4]. Agenti VWS prikupljaju podatke iz fizikog svijeta preko komunikacijskog
interfejsa i skladite u D&K basu VWS. Komunikacija agenta VWS s mobilnim
servisnim agentima omoguava transportovanje podataka do sistema menadmenta
D&K base ASKFRS.
Kontainer VS ine agenti virtualnih sistema i njihova uloga je predstavljanje
fizikih sistema (FS) iz fizikog okruenja u kibernetski prostor. VS je definiran u
konceptu kibernetskih struktura [4]. Agenti VS stupaju u komunikaciju sa ostalim
agentima MAS, posebno sa servisnim agentima radi transportovanja podataka iz
fizikog sistema do D&K base.
Komunikacija agenata unutar kontainera odvija se po principu hijerarhijskih
struktura to iziskuje egzistiranje medijatorskih agenata i stvaranja vorova u MAS.
Komunikacija izmeu vorova agenata se odvija preko standardnog Internal Message
Transport Protocol (IMTP).
Na temelju FIPA standarda koji definiu strukturu MAP, JADE obezbijeuje
sve standardom propisane elemente neophodne za upravljanje platformom. Ti
infrastrukturni elementi, kao to su agent management system (AMS) i directory
facilitator (DF) smjeteni su u main container kao osnovnom container na kojem
egzistira MAP. AMS je agent odgovoran za rad cjelokupne platforme i praenje svih
agenata u sistemu. DF je agent kome se ostali agenti obraaju da bi oglasili svoje
usluge koje su u stanju da obavljaju. Ostali agenti koji egzistiraju u main container
mogu se poistovijetiti sa razliitim interfejsnim agentima, kao to su agenti za virtualnu
reprezentaciju i slino.
Komunikacija izmeu kontainera odvija se preko vorova agenta (NODE) kroz
primjenu IMTP. Agentski vor containera je strukturiran sa razliitim servisima koji
omoguavaju filtriranja poruka u meu agentskoj komunikaciji. Pored servisnih filtera
vorovi agenata u containeru sadre Local Agent Descriptor Table (LADT) i Global
Agent Description Table (GADT) to omoguuje opisno praenje agenata za
282
pripadajui vor. Main container pored LADT i GADT posjeduje i Registry Table (RT)
za registar svih agenata koji egzistiraju u MAS i njihova stanja.
Za razvoj i upravljanje softwerskim agentima u subjekta, kolaborativnim
servisnim agentima, agentima VWS i VS zaduena je JADE MAP prikazana na slici 3.
Slika 3. JADE multi - agentska platforma za povezivanje elemenata i vizualizaciju

procesa u socijalno-kibernetsko-fizikim proizvodnim sistemima [4]
4 ZAKLJUAK
U radu je dat kratak prikaz aktivnosti na konceptualizaciji kibernetskih struktura
novih, naprednih proizvodnih sistema u okviru istraivakog rada grupe autora na
razvoju modela kibernetsko-fizikih proizvodnih sistema. Prikazan je koncep ESKFRS i
ASKFRS te agentska potpora za povezivanje elemenata u takvim sistemima. Budui
rad neophodno je usmjeriti na razvoj agentskih baziranih modelirnih platformi sa ciljem
agentskog modeliranja kibernetsko-fizikih proizvodnih sistema.
283
LITERATURA
[1] E. Hozdi and Z. Jurkovi, Semantike Web tehnologije za potporu Autonomnim
Kibernetsko-Fizikim Radnim Sistemima, in New Technologies - Nove
Tehnologije NT-2016, 2016, pp. 168176.
[2] E. Hozdi and E. Hozdi, Temelji nove indistrijske revolucije - INDUSTRIJA 4.0,
in 2nd International Scientific Conference, COMETa 2014, Conference on
Mechanical Engineering Technologies and Applications, 2014, pp. 653662.
[3] E. Hozdi, Smart factory for Industry 4.0: A Review, Int. J. Moder Manuf.
Technol., vol. VII, no. 1, 2015.
[4] E. Hozdi, R. Vrabi, and P. Butala, Conceptualization of socio-cyber-physical
production systems (unpublished manuscript), in Research work: Model of cyber-
physical production system, 2016.
[5] H. Gill, Cyber-Physical Systems: Beyond ES, SNs, SCADA. SEI TCES
Workshop, 2010.
[6] M. Broy, Cyber-Physical Systems. Berlin: Springer, 2010.
[7] D. Spath, S. Gerlach, and S. Schlund, Cyber-physical system for self-organised
and flexible labour utilisation, in 22nd International Conference on Production
Research, ICPR 2013, 2013, p. 6.
[8] L. Monostori, Cyber-physical production systems: Roots, expectations and R&D
challenges, in Procedia CIRP, 2014, vol. 17, pp. 913.
[9] E. Hozdi, S. apevi, and P. Butala, Kibernetsko-fizike strukture za nove
autonomne radne sisteme, in 10th International Scientific Conference on
Production Engineering DEVELOPMENT AND MODERNIZATION OF
PRODUCTION, 2015, pp. 471476.
[10] J. Peklenik, Complexity in Manufacturing Systems, CIRP J. Manuf. Syst., vol. 24,
pp. 17 25, 1995.
[11] P. Butala and A. Sluga, Dynamic structuring of distributed manufacturing
systems, Adv. Eng. Informatics, vol. 16, no. 2, pp. 127133, Apr. 2002.
[12] V. Zaletelj, A. Sluga, and P. Butala, The B2MN approach to manufacturing
network modeling, in Proceedings of the 6th International Workshop on Emergent
Synthesis IWES 06, 2006, pp. 9 16.
[13] P. Butala and A. Sluga, Autonomous work systems in manufacturing networks,
CIRP Ann. - Manuf. Technol., vol. 55, no. 1, pp. 521524, Jan. 2006.
[14] E. Hozdi and Z. Jurkovi, Cyber Structures for Network Production Systems,
Mod. Technol. Ind. Eng., vol. VIII, no. 1, 2016.
[15] M. Wooldridge and N. R. Jennings, Intelligent Agents: Theory and Practice,
Knowl. Eng. Rev., vol. 10, pp. 115 152, 1995.
[16] S. Franklin and A. Graesser, Is it an Agent, or just a Program?: A Taxonomy for
Autonomous Agents, in Proceedings of the Third International Workshop on
Agent Theories, Architectures, and Languages, 1996.
[17] M. Knopik and J. Johnson, Developing intelligent agents for distributed systems:
exploring architecture, technologies, & applications. New York, NY, USA: McGraw
- Hill, 1998.
[18] W. Shen, Q. Hao, H. J. Yoon, and D. H. Norrie, Applications of agent-based
systems in intelligent manufacturing: An updated review, Adv. Eng. Informatics,
vol. 20, pp. 415431, 2006.
[19] L. Monostori, J. Vancza, and S. R. T. Kumara, Agent - based systems for
manufacturing, CIRP Ann. - Manuf. Technol., vol. 55, no. 2, pp. 697 720, 2006.
284
_____________________________________________________________________________
PRITISNA SVOJSTVA ESTO KORIENIH POLIMERA

U PROCESIMA ADITIVNE PROIZVODNJE
Milija Krainik1, Milan ljivi2, Jelica Ani3, Jovica Ili4
Rezime: Postupci proizvodnje koji su zasnovani na aditivnim tehnologijama

predstavljaju moan prilaz za brzu i efikasnu izradu kompleksnih i funkcionalnih
dijelova od razliitih materijala. U radu je prezentovan postupak razvoja i izrade draa
pstupkom modelovanja dpnvnjm (kstrudirnjm) istplng mtril. S
obzirom da je dra u eksploataciji dominantno optereen na pritisak izvrena su
mehanika testiranja, pri emu dobijeni rezultati mogu doprinijeti adekvatnom izboru
materijala.
Kljune rijei: Aditivna proizvodnja, mehanika svojstva, polimeri: ABSplus, ABS, PLA
COMPRESSIVE PROPERTIES OF COMMONLY USED POLYMERS

IN ADDITIVE MANUFACTURING PROCESSES
Abstract: Production methods based on additive manufacturing technologies represent
a powerful approach to the rapid and efficient production of complex prototypes and
functional parts from different materials. This paper presents the procedure of
development and production of a holder using fusing deposition modeling process.
Since compression is the dominant load on the holder in exploitation, mechanical
testing was carried out and the results obtained can contribute to adequate material
selection.
Key words: Additive manufacturing, mechanical properties, polymers: ABS plus, ABS,
PLA
1 UVOD
Za izradu prototipova i funkcionalnih elemenata izrazito sloene geometrijske
konfiguracije, danas se uglavnom koriste savremeni, nekonvencionalni postupci
proizvodnje. Njihova realizacija je zasnovana na principu spajanja materijala sloj po
sloj u cilju dobijanja fizikog modela koji je identian virtuelnom modelu, bez korienja
1
Doc. dr Milija Krainik Mainski fakultet Istono Sarajevo (CA), BiH, milija.kraisnik@ues.rs.ba
2Prof.dr Milan ljivi, Mainski fakultet Banja Luka, BiH, milan.sljivic@unibl.rs
3Ass. Jelica Ani, Mainski fakultet Istono Sarajevo, BiH, jelicaanic91@gmail.com
4Ass. Jovica Ili, mr, Mainski fakultet Banja Luka, BiH, jovica.ilic@unibl.rs
285
Milija Krainik, Milan ljivi, Jelica Ani, Jovica Ili
alata i pribora. Navedeni koncept proizvodnje u nauno-strunoj javnosti je poznat pod

nazivom aditivna proizvodnja (eng. Additive manufacturing - AM). U posljednjih trideset
godina razvijen je i uspjeno primijenjen vei broj postupaka aditivne proizvodnje, ije
su osnovne karateristike saoptene u [1-3].
U optem sluaju, za realizaciju bilo kog AM postupka potrebni su: materijal,
energija i CAD model. Sa aspekta kvaliteta i funkcionalnosti dobijenih proizvoda od
velikog znaaja je pravilan izbor materijala koji e se koristiti za izradu. Zbog toga je
neophodno poznavati mehanika svojstva, jer omoguavaju preliminarnu procjenu
ponaanja materijala u toku eksploatacije.
U radu [4] su prezentovani rezultati koji se odnose na zatezne vrstoe
epruveta za iju proizvodnju su korieni razliiti aditivni postupci. Takoe, u istom
radu saoptene su preporuke za izbor AM postupka u zavisnosti od zahtjevane
vrstoe proizvoda. Rezultati istraivanja iz studije [5] jasno pokazuju da su mehanika
svojstva 3D-tampanog polieter-eter-keton (PEEK) uzorka superiorna u odnosu na
3D-tampani uzorak od ABS polimera. Fragassa i dr. su u radu [6] saoptili rezultate
mehanikih osobina za etiri fotopolimerne smole komercijalnog naziva: FullCure720,
PA, MK3 i VeroBlu. Na osnovu razliitih mehanikih testova utvrene su slinosti i
razlike u ponaanju materijala pri kvazistatikim optereenjima. Uticaj uslova obrade
na zateznu vrstou 3D-tampanih modela publikovani su u radu [7].
Prethodna istraivanja mehanikih karakteristika su realizovana bez obzira na
injenicu da proizvoai materijala obavezno daju podatke koji se odnose na fizike i
mehanike karakteristike. Ipak, kako se navodi u [6], sekundarna eksperimentalna
verifikacija je obavezna u uslovima poveane pouzdanosti finalnih komponenti, koje se
dobijaju korienjem inovativnih i nedovoljno poznatih tehnologija.
S obzirom da se polimerni materijali danas dominantno koriste u AM
postupcima, u radu su prezentovani rezultati eksperimentalnih istraivanja koja se
odnose na karakterizaciju pritisnih svojstava tri najee koriena polimera:
polilaktina kiselina PLA (eng. Polylactic Acid), akrilonitrilni butadijen stiren ABS
(eng. Acrylonitrile butadiene styrene) i poboljana verzija ABSplus. Takoe, u radu je
prezentovan razvoj i izrada funkcionalnih dijelova od testiranih polimera AM postupkom
koji je baziran na tehnologiji ekstruzije materijala.
2 POSTUPAK NANOENJA MATERIJALA TOPLJENJEM

Nanoenje materijala topljenjem (eng. Fused deposition modelling FDM) je
aditivni postupak proizvodnje prototipova i finalnih dijelova koji je zasnovan na principu
prikazanom na slici 1.
Slika 1. ematski prikaz FDM postupka [8]
286
Pritisna svojstva esto korienih polimera u procesima aditivne proizvodnje
Materijal u obliku ice se dovodi u mlaznicu oko koje se nalaze elektrootporni

grijai. Usljed zagrijavanja i odravanja temperature iznad take topljenja, materijal se
u viskoznom stanju slojevito nanosi na podlogu, pri emu veoma brzo ovrava. Kada
je jedan sloj izraen, platforma se sputa, a mlaznica zapoinje nanoenje materijala
za izradu sljedeeg sloja. Debljina sloja i vertikalna tanost zavise od prenika otvora
mlaznice. Za izradu funkcionalnih dijelova FDM postupkom mogue je koristiti vie
razliitih materijala ukljuujui ABS plastiku, poliamide, polikarbonate, polietilen i
polipropilen.
3 EKSPERIMENTALNA ISTRAIVANJA
Eksperimentalna istraivanja sastoje se od dva dijela. Prvi dio se odnosi na
razvoj i izradu funkcionalnog dijela (dra) i epruveta za mehanika ispitivanja FDM
postupkom, a drugi dio je usmjeren na karakterizaciju pritisnih svojstava korienih
materijala.
3.1 Aditivna proizvodnja draa FDM postupkom

Izrada draa od ispitivanih polimera izvrena je u Laboratoriji za tehnologiju
plastinosti i obradne sisteme na Mainskom fakultetu u Banjoj Luci. Pri tome su
korieni 3D tampai Dimension Elite (lijevo na slici 2) i LeapFrog Creatr XL (desno
na slici 2). Generisanje fizikog modela bilo je zasnovano na tehnologiji ekstruzije
materijala.
Slika 2. 3D tampai: Dimension Elite (lijevo) Slika 3. Dizajniranje draa u

i LeapFrog Creatr XL (desno) softverskom paketu SolidWorks
U optem sluaju, razvoj funkcionalnih dijelova tehnologijom ekstruzije

materijala sastoji se od sljedeih koraka:
dizajn proizvoda u nekom od CAD programskih paketa,
konvertovanje CAD modela u STL format koji prepoznaju 3D tampai,
prenos STL datoteke na raunar koji upravlja trodimenzionalnim
tampaem,
procesiranje STL datoteke u okviru programa CatalystEX i Simplify 3D u
kojem se podeavaju i prilagoavaju svi parametri prema zahtijevanom
modelu,
izrada trodimenzionalnog modela AM tehnologijom i
dodatna obrada izraenog dijela.
Kod razvoja draa u potpunosti je sprovedena navedena procedura. Nosa je
dizajniran u programskom paketu SolidWorks, slika 3. Nakon prenosa STL datoteke na
287
raunar koji upravlja radom 3D tampaa i uitavanja generisanog modela, izvreno je

podeavanje operativnih parametara u okviru programa CatalystEX i Simplify3D, slika
4. Izbor orijentacije modela i najpovoljnijeg poloaja, te procesiranje slojeva i potpora,
kao i raspored modela na podlogama 3D tampaa prikazan je na slici 5. Na slici 6 je
dat izgled gotovog, tj. odtampanog elementa.
a) b)
Slika 4. Pretprocesiranje i podeavanje operativnih parametara u softverskim
paketima: a) CatalystEX i b) Simplify 3D
a) b)
Slika 5. Pozicioniranje modela na radnoj platformi i priprema procesa 3D tampe
draa u softverskim paketima: a) CatalystEX (Dimension Elite) i
b) Simplify3D (LeapFrog 3D tampa)
U procesu aditivne proizvodnje draa od ABSplus polimera korien je 3D

tampa Dimension Elite, proizvoaa Stratasys iz SAD-a. injenica da je navedeni
proizvoa patentirao ABSplus polimer pretstavlja limitirajui faktor u pogledu primjene
drugih tipova 3D tampaa.
Izrada draa od ABS i PLA polimera realizovana je na 3D tamau LeapFrog
Creatr XL. U ovom sluaju moe se koristiti iri asortiman materijala, jer je pomou
univerzalnog softvera mogue definisati razliite procesne parameter, kao to su
temperature mlaznica, brzina 3D tampe, temperature podloge i sl. Konaan rezultat je
optimizacija procesa aditivne proizvodnje funkcionalnih dijelova u zavisnosti od
korienog materijala.
288
Parametri izrade draa na razliitim 3D tampaima prikazani su u tabeli 1.
Tabela 1. Parametri izrade draa

3D tampa
Parametar
Dimension Elite LeapFrog
Vrijeme izrade 98 minuta 113 minuta
Zapremina osnovnog materijala 4,83 cm3 10,83 grama
Zapremina potpornog materijala 3,50 cm3 4,65 grama
Cijena potroenog materijala 7,46 5,43
Izgled draa, dobijenih tehnologijom aditivne proizvodnje prikazani su na slici 6.
Slika 6. Drai izraeni tehnologijom aditivne proizvodnje
3.2 Ispitivanje na pritisak

Eksperimentalna istraivanja pritisnih svojstava su realizovana na cilindrinim
polimernim uzorcima poetnih dimenzija D0=10 mm i H0=20 mm. Svi uzorci su izraeni
na 3D tampaima Dimension Elite i LeapFrog u Laboratoriji za tehnologiju
plastinosti i obradne sisteme na Mainskom fakultetu u Banjoj Luci. Ispitivanje
materijala na pritisak izvreno je u Laboratoriji za zavarivanje i ispitivanje materijala na
Mainskom fakultetu u Istonom Sarajevu. Uzorci su deformisani na univerzalnoj
maini za testiranje materijala Shimnadzu, tip AGS-20 kN NXD. Izgled maine sa
pripadajuim modulom, tj. alatom za sabijanje, prikazan je na slici 7. Softver Trapezium
X je korien za obradu i grafiki prikaz rezultata ispitivanja.
Slika 7. Maina za testiranje materijala Slika 8. Izgled nedeformisanih uzoraka:

sa modulom za sabijanje a) ABS, b) ABSplus, c) PLA
289
Za testove sabijanja ukupno je korieno 15 uzoraka, pri emu je

karakterizacija konkretnog polimera izvrena na osnovu rezultata 5 pojedinanih
ispitivanja. Izgled nedeformisanih uzoraka i uzoraka poslije ispitivanja prikazan je na
slikama 8 i 9, respektivno.
a)
b)
c)
Slika 9. Izgled uzoraka poslije ispitivanja: a) ABS, b) ABSplus, c) PLA
Karakteristino ponaanje ABS, ABSplus i PLA polimera pri sabijanju

predstavljeno je na slici 10. Dijagrami - (eng. Engineering stress Engineering
strain) su u toku ispitivanja automatski generisani. Pri tome su se koristili podaci koji se
odnose na poetne dimenzije epruveta i uslove ispitivanja.
ABS ABSplus
PLA
Slika 10. Krive - pri sabijanju razliitih polimera
290
Sabijanje svih uzoraka realizovano je pri brzini deformisanja od 5 mm/min.

Srednje vrijednosti napona teenja RpT, pritisne vrstoe RPm, maksimalne relativne
deformacije M i modula elastinosti EP su odreene na osnovu rezultata 5 testova za
ABS i ABSplus polimer. Pri ispitivanju na pritisak PLA polimer je ispoljavao visoka
plastina svojstva i s obzirom da se na uzorcima nisu uoavale pukotine nije bilo
mogue odrediti pritisnu vrstou. Zbog toga je za ovaj polimer odreen samo napon
teenja RpT i modul sabijanju EP. Komparativni prikaz rezultata dat je u tabeli 2.
Tabela 2. Srednje vrijednosti pritisnih svojstava

Napon teenja Pritisna vrstoa Max. deformacija Modul elastinosti
Materijal
RpT [N/mm2] RpM [N/mm2] M [%] EP [GPa]
ABS 50,74 144,27 68,38 1,52
ABSplus 54,76 142,85 69,08 1,64
PLA 86,54 --- --- 2,20
3.3 Analiza rezultata

Analiza izrade funkcionalnih dijelova je pokazala snaan uticaj vrste materijala i
3D tampaa na kvalitet proizvoda. Najbolji kvalitet draa je ostvaren pri izradi na
Dimension Elite Stratasys profesionalnom FDM tampau iz ABSplus polimera. Zbog
toga se za proizvodnju finalnih dijelova preporuuje korienje navedenog tampaa,
ali su u tom sluaju trokovi proizvodnje najvei.
Tokovi krivih - i numerike vrijednosti iz tabele 2 pokazuju da se u toku
mehanikih ispitivanja na pritisak ABS i ABSplus polimeri slino ponaaju. Najvei
otpor prelasku u plastino podruje prua PLA polimer. Numeriki posmatrano, kod
uzoraka od PLA polimera napon teenja je za 70% vei u odnosu na ABS polimer,
odnosno za 58% u odnosu na ABSplus polimer. Meutim, poslije prelaska u plastino
podruje, uzorci od PLA polimera se u poetnim fazama deformisanja ponaaju kao
idealno plastian materijal, bez indikacije deformacionog ojaavanja. Ipak, sa
poveanjem stepena deformacije, posebno za >50%, dolazi do izraenijeg
deformacionog ojaavanja, to ipak nije bilo dovoljno da se odredi pritisna vrstoa
PLA polimera, jer ni pri visokim optereenjima nije dolo do pojave pukotina na
slobodnoj povrini uzoraka.
4 ZAKLJUCI
Postupak aditivne proizvodnje, zasnovan na tehnologiji ekstruzije materijala je
pogodan za izradu funkcionalnih dijelova, ali kvalitet i trokovi zavise od vrste
korienog materijala i tipa 3D tampaa.
Ukupni rezultati mehanikih testova sabijanja su pokazali da PLA polimer ima
najvei napon teenja, ali su mu duktilna svojstva znaajno varijabilna i zavise od
stepena deformacije. Svojstva otpornosti i duktilnosti ABSplus i ABS polimera su dosta
slina.
S obzirom da rezultati prezentovani u ovom radu mogu doprinijeti adekvatnom
izboru polimernih materijala za postupke aditivne proizvodnje, generalno se moe
saoptiti sljedea preporuke:
zbog smanjene ilavosti pri veim stepenima plastine deformacije, PLA
polimeri je pogodnije koristiti za izradu dijelova koji su uglavnom aksijalno
optereeni;
291
ABSplus i ABS polimeri su povoljniji za izradu dijelova koji funkcioniu u

promijenljivim radnim uslovima usljed kojih dolazi do generisanja sloenih
naponskih stanja.
ZAHVALNOST
Rezultati prikazani u radu dio su istraivakih aktivnosti u okviru Tempus
projekta WIMB: 543898-TEMPUS-1-2013-1-ES-JPHES, ija implementacija je
finasirana od strane Evropske Unije.
LITERATURA
[1] Planak, M. (2004). Brza izrada prototipova, modela i alata, Fakultet tehnikih
nauka, Novi Sad
[2] ljivi, M. (2007). Tehnologija brze izrade prototipskih proizvoda i alata, Mainski
fakultet, Banja Luka
[3] ercer, M., Godec, D., Pilipovi, A. (2012) Aditivne tehnologije za mala i srednje
velika preduzea, Fakultet strojarstva i brodogradnje, Zagreb
[4] Tiro, D., Brdarevi, S. (2015). Komparativna analiza zatezne vrstoe tri postupka
brze izrade prototipova, 9th Research/Expert Conference with International
Participations QUALITY 2015, Neum, B&H, str. 189-194,
[5] Wenzheng, W., Peng, G., Guiwei, L., Di Zhao., Haibo, Z., Ji Zhao (2015) Influence
of Layer Thickness and Raster Angle on the Mechanical Properties of 3D-Printed
PEEK and a Comparative Mechanical Study between PEEK and ABS, Materials
2015, 8,; doi:10.3390/ma8095271, p.p. 5834-5846
[6] Fragassa, C., Minak, G. (2008). Standard characterization for mechanical
properties of photopolymer resins for rapid prototyping, 1st Symposium on
Multidisciplinary Studies of Design in Mechanical Engineering, Bertinoro, Italy
[7] Galeta, T., Kladaric, I., Karakas, M. (2013). Influence of processing factors on the
tensile strength of 3D-printed models, Materiali in tehnologije / Materials and
technology 47, UDK 621.7:004.896, ISSN 1580-2949, p.p. 781-788.
[8] Tiro, D., Denjo, D. (2015). Comparative analysis of dimensional accuracy for Z-
corp, RTV and Cube 3D rapid prototyping processes, 19th International
Research/Expert Conference Trends in the Development of Machinery and
Associated Technology TMT 2015, Barcelona, Spain, p.p. 65-68.
292
________________________________________________________________________________________________
PRODUCT DEVELOPMENT AND

MECHANICAL SYSTEMS
_____________________________________________________________________________
ISPITIVANJE UTICAJA PRAVCA 3D TAMPE NA MEHANIKE

KARAKTERISTIKE PROTOTIPOVA OD ABS PLASTIKE
Radivoje Mitrovi1, arko Mikovi2
Rezime: Usled opte globalizacije i posledinog poveanja konkurencije na svetskom

tritu, kao imperativ tehnologije 21-og veka se nametnula potreba za skraenjem
vremena neophodnog za razvoj novog proizvoda. Takvo ubrzanje neminovno
poveava verovatnou pojave greaka koje potencijalno uzrokuju velike finansijske i
materijalne gubitke. Jedan od naina da se ovakve greke pravovremeno preduprede
je primena neke od metoda za brzu izradu prototipa (3D tampu), kojima je mogue,
ve u poetnim fazama razvoja novog proizvoda, uoiti nedostatke i otkloniti ih pre
poetka serijske ili masovne proizvodnje kada je obino kasno za bilo kakvu reakciju.
Navedena injenica je uslovila pojavu velikog broja proizvoaa odgovarajue opreme,
uglavnom bazirane na razliitim tehnologijama aditivne proizvodnje (additive
manufacturing) pri kojoj se obradak izrauje dodavanjem novih slojeva materijala
(najee ABS ili PLA plastike), odreenog oblika. Poto je tokom izrade model koji se
izrauje mogue prostorno orjentisati na razliite naine, u ovom radu je opisano
eksperimentalno ispitivanje uticaja pravca 3D tampe na mehanike karakteristike
(zateznu vrstou) prototipova standardnih epruveta, izraenih od ABS plastike.
Kljune rijei: 3D tampa, Brza izrada prototipa, Novi materijali, Mehanike

karakteristike, Eksperiment
INVESTIGATION ON INFLUENCE OF 3D PRINTING DIRECTION ON MECHANICAL

PROPERTIES OF ABS PLASTIC PROTOTYPES
Abstract: Globalization and consequent increasement of world market competitiveness
had caused the requisite to shorten the time needed to develop the new product. This
is one of the main imperatives of 21st century science. Unfortunately, product
development time shortening cause errors which can latter cause significant material
and financial losses. One way to prevent those losses in time is the application of
available rapid prototyping technology (3D printing), which provides the possibility to
find irregularities in new product even in early product design phases
(conceptualization and elaboration) so product could be improved and corrected
1 dr (Ph.D), Radivoje Mitrovi, Univerzitet u Beogradu Mainski fakultet (CA), Beograd, Srbija,
rmitrovic@mas.bg.ac.rs
2 dipl.in.ma. (M.Sc), arko Mikovi, Univerzitet u Beogradu Mainski fakultet, Beograd, Srbija,
zmiskovic@mas.bg.ac.rs
293
Radivoje Mitrovi, arko Mikovi
before the production (manufacturing) phase, when it is usually too late for any
reaction. Mentioned facts caused the appearance of numerous different companies
highly specialized for development and production of appropriate rapid prototyping
equipment, mainly based on additive manufacturing technologies (where the new
object is built by joined material layers with appropriate shapes). During the actual 3D
printing its possible to orientate prototype in different directions in space which can
significantly affects its mechanical properties. This paper deal with this subject,
describing the results of experimental testing of influence of 3d printing direction on
tensile strenght of ABS plastic prototypes standardized test samples.
Key words: 3D printing, Rapid prototyping, New materials, Mechanical properties,

Experiment
1 UVOD
U drugoj deceniji 21-og veka, opta globalizacija i posledino poveanje
konkurencije na svetskom tritu su uslovili potrebu za to brim razvojem novih
proizvoda, koji takoe moraju da zadovolje i sve stroe zahteve kvaliteta, energetske
efikasnosti, ekoloke i reciklane podobnosti, uz to manju cenu, trokove proizvodnje
i odravanja. Ovakav trend neminovno dovodi do pojave greaka koje potencijalno
uzrokuju velike finansijske i materijalne gubitke (najnoviji sluaj mobilni telefon
Galaxy Note 7, ije je povlaenje sa trita, za samo dva dana, kompaniji Samsung
uzrokovalo gubitak od dvadeset milijardi dolara [1]). Takve greke se primenom novih
metoda brze izrade prototipa ('3D tampe') mogu preduprediti jo u poetnim fazama
razvoja proizvoda (pri samom koncipiranju i razradi) jer omoguavaju da se u
najkraem vremenskom roku izrade upotrebljivi prototipovi na kojima je mogue uoiti,
pre svega, nedostatke u dizajnu, a zatim i u funkcionalnosti.
Brza izrada prototipa (eng. 'rapid prototyping') danas ima iroku primenu u
skoro svim oblastima ljudske delatnosti (industriji, medicini [2], umetnosti, obrazovanju
itd.) ali su njeni osnovni nedostaci i dalje nedovoljna preciznost i brzina izrade. Stoga je
jedan od imperativa savremene nauke upravo poboljanje ovih parametara. Stereo-
Litografija (SL), Selektivno Lasersko Sinterovanje (SLS), FDM modeliranje ('Fused
Deposition Modeling') i LOM proizvodnja slojevitih objekata ('Laminated Object
Manufacturing') su trenutno najrazvijenije tehnologije za brzu izradu prototipova. Meu
njima, najzastupljenija je FDM, koja spada u tehnologije aditivne proizvodnje (eng.
'additive manufacturing'), za koje je zajedniko da se eljeni prototip izrauje
dodavanjem novih slojeva materijala odreenog oblika.
O ubrzanom razvoju tehnologija aditivne proizvodnje posebno govori injenica
da se iz godine u godinu poveava broj proizvoaa odgovarajue opreme. Jo 2014.
godine ih je bilo preko 45, sa ekspanzijom od preko milijardu dolara godinje [3].
Ekonominost, pristupanost i termike karakteristike elastomera (pre svega
niska temperatura topljenja) su osnovni razlozi zato su ba ABS (Akrilonitril Butadien
Stiren) i PLA (Polilaktid) materijali koji se najee primenjuju u FDM tehnologiji izrade.
Zbog vrstoe, fleksibilnosti, obradivosti i zadovoljavajue otpornosti na poviene
temperature (Tabela 1 [4]), ABS plastika se ee koristi u tehnici, dok su prednosti
PLA plastike: mogunost bre 3D tampe, izrada tanjih slojeva i otrijih ivica izraenih
prototipova to je ini pogodnom, pre svega, za hobiste (maketare) i upotrebu u
kancelarijama i domainstvima. S obzirom na opisan domen primene ABS plastike
(tehnika), fokus istraivanja opisanih u ovom radu je upravo na tom materijalu.
294
Ispitivanje uticaja pravca 3D tampe na mehanike karakteristike prototipa od ABS plastike
Tabela 1. Uporedne vrednosti karakteristika ABS i PLA plastike [4]

Karakteristika PLA (Polylatic Acid) ABS (Acrylonitrile Butadiene Styrene)
Modul elastinosti E (GPa) 3.5 1.1-2.9
Temperatura topljenja (oC) 160 88-128
Zatezna vrstoa (MPa) 36-55 25-50
Procedura aditivne proizvodnje prototipa se najee sastoji od etiri aktivnosti:
1. Kreiranje 3D modela u nekom od dostupnih komercijalnih softvera (Catia,
Inventor, Solidworks...);
2. Prevodjenje 3D modela u STL (Stereo-lithographic) format kompaktan 3D
model se deli na paralelne slojeve odreene debljine;
3. Definisanje parametara 3D tampe i orjentacija 3D modela u radnom
prostoru 3D tampaa;
4. Fizika izrada prototipa.
Od navedenih, za mehanike karakteristike izraenog prototipa (zateznu
vrstou) je najznaajnija 3. aktivnost jer se u njoj definiu kljuni parametri prema
kojima e prototip biti izraen. Parametri koje najee treba definisati su (u zavisnosti
od modela 3D tampaa i odgovarajueg softvera): temperatura ekstrudera,
temperatura platforme na kojoj se prototip izrauje (podloga Slika 1), debljina sloja
materijala, procenat ispune, broj slojeva koji se nalaze na spoljanjosti izraenog
prototipa (eng. 'shell'), poetni sloj materijala osnova na kojoj se tampa (eng. 'raft'),
dodatni oslonci, brzina kojom se kree glava 3D tampaa, i konano prostorna
orjentacija modela pri izradi.
Ukoliko se izrauje prototip koji e u radnim uslovima biti izloen dejstvu
aksijalnog optereenja (napregnut na zatezanje), oekivano je da e najpovoljnije
mehanike karakteristike imati model kod koga su slojevi materijala paralelni sa
pravcem dejstva optereenja. Nasuprot tome, model kod koga su slojevi materijala
upravni na pravac dejstva optereenja ima nepovoljnije mehanike karakteristike, jer
se u tom sluaju optereenju suprostavljaju veze izmeu slojeva umesto samog
materijala prototipa.
Osnovni cilj eksperimentalnih istraivanja predstavljenih u poglavljima koja
slede je upravo kvantifikacija opisanog uticaja pravca 3D tampe, odnosno, ugla
izmeu slojeva odtampanog materijala i pravca dejstva optereenja, na zateznu
vrstou prototipova izraenih od ABS plastike.
2 ANALIZA STANJA U PREDMETNOJ NAUNOJ OBLASTI

Od samog nastanka aditivnih tehnologija proizvodnje (poetkom 80-ih godina
prolog veka), istraivanja mehanikih karakteristika odgovarajuih repro-materijala su
neprekidno u fokusu naune javnosti sa osnovnim ciljem da se definiu takvi
parametri 3D tampe koji omoguavaju to veu vrstou, uz to manju masu
izraenih modela. Uzevi u obzir ciljeve istraivanja obuhvaenih ovim radom,
predstavljamo najnovije relevantne rezultate istraivanja drugih autora.
Leer i Vajtaek su 2014. godine u radu [5] prikazali rezultate
eksperimentalnog ispitivanja uticaja ugla rastera (Slika 1) na zateznu vrstou
epruveta od PLA plastike (100% ispune). Pri ispitivanju su se vodili smernicama
standarda ASTM D638, prema kome je tokom eksperimenta zadata brzina istezanja od
5 mm/min. Rezultati su pokazali da epruvete sa uglom rastera od 45 o imaju znaajno
veu zateznu vrstou (64,03MPa) od epruveta sa uglom rastera od 0o i 90o
(58,45MPa i 54,01MPa).
295
(a) (b)
Slika 1. (a) Ugao rastera grafiki prikaz; (b) razliiti uglovi rastera koji se primenjuju
pri aditivnim tehnologijama proizvodnje
U radu [6], Torado Perez i dr. su prikazali rezultate eksperimentalnog

ispitivanja uticaja pravca 3D tampe na zateznu vrstou epruveta od ABS plastike
(100% ispune), odtampanih na 3D tampau Makerbot Replicator 2X. Pri ispitivanju
su potovali smernice standarda ASTM D638, uz zadato istezanje od 10 mm/min.
Analiza njihovih eksperimentalnih rezultata je pokazala da epruvete kod kojih su slojevi
materijala postavljeni upravno na pravac dejstva optereenja imaju preko dva puta
manju zateznu vrstou od epruveta kod kojih su slojevi materijala postavljani
paralelno sa pravcem dejstva optereenja (14,1MPa prema 28,5MPa).
Leer i dr. su u radu [3] prikazali rezultate eksperimentalnog ispitivanja uticaja
ugla rastera i broja slojeva materijala (od 1 do 35) na zateznu vrstou epruveta od
ABS plastike, izraenih prema smernicama standarda ASTM D638, uz nominalnu
debljinu sloja materijala od 0,2 mm (100% ispune). Tokom ispitivanja je zadata brzina
istezanja od 5 mm/min. Zakljueno je da se sa poveanjem broja slojeva materijala
zatezna vrstoa naglo poveava sve do 12-og sloja (~35,5MPa), kada poinje da
stagnira. Posebno je zanimljiv zakljuak da su rezultati ispitivanja uticaja ugla rastera
na zateznu vrstou ispitanih epruveta od ABS plastike bili znaajno drugaiji od
odgovarajuih rezultata za epruvete od PLA plastike kod epruveta od ABS plastike
najbolje mehanike karakteristike imaju uzorci sa uglom rastera od 0o .
U radu [7], koji je prihvaen za objavljivanje u 2017. godini, Kantrel i dr. su
prikazali analizu rezultata eksperimentalnog ispitivanja uticaja prostorne orjentacije
(pravca 3D tampe) epruveta od ABS plastike na njihovu zateznu vrstou. Epruvete
su prema dimenzijama odgovarale zatevima standarda ASTM D638, sa procentom
ispune od 100%, i debljinom sloja materijala od 0,25 mm, a pri izradi je variran i ugao
rastera: +45o/-45o, +30o/-60o, +15o/-75o, i 0o/90o. Tokom eksperimentalnog ispitivanja je
zadato istezanje od 1,5 mm/min, a za merenje polja deformacija je upotrebljen sistem
stereo kamera Point Grey Research, 5-Mega pix. Analiza dobijenih rezultata je
ponovo pokazala da u zavisnosti od pravca 3D tampe i ugla rastera, zatezna vrstoa
epruveta izraenih tehnologijom 3D tampe varira ak i do 50% (od 19,9MPa do
29,1MPa).
Na osnovu predstavljenih rezultata dosadanjih istraivanja drugih autora i
njihovih najvanijih zakljuaka, oigledno je da je odreivanje mehanikih
karakteristika prototipova izraenih tehnologijom aditivne proizvodnje jo uvek veoma
aktuelno i da prostor za dalja istraivanja itekako postoji npr. jo uvek nije ispitana
zatezna vrstoa epruveta izraenih pod uglom razliitim od 0 o ili 90o u odnosu na
296
ravan platforme (podloge) 3D tampaa, a nisu objavljeni ni podaci o mehanikim

karakteristikama epruveta sa slojevima materijala debljim od 0,25 mm (to su upravo
ciljevi ovog istraivanja).
3 POSTAVKA EKSPERIMENTA
Kao standard relevantan za eksperimentalna istraivanja opisana u ovom radu,
izabran je vaei nacionalni standard SRPS EN ISO 527:2013 (Plastine mase
Odreivanje zateznih svojstava). Analizom navedenog standarda su usvojene
dimenzije uzoraka prikazane na Slici 2.
Slika 2. Standardne dimenzije plastine epruvete za ispitivanje zatezanjem prema

SRPS EN ISO 527:2013 [8]
Uzevi u obzir da standard SRPS EN ISO 527:2013 propisuje razliite

standardne brzine istezanja epruveta (od 1 - 500 mm/min), kao najpodobnija za
predmetno eksperimentalno ispitivanje je usvojena brzina istezanja od 2 mm/min jer
omoguava veoma precizno oitavanje izmerenih optereenja. Takoe, u skladu sa
zahtevima navedenog standarda, sva planirana eksperimenalna ispitivanja su
realizovana u laboratorijskim uslovima, na sobnoj temperaturi.
3.1 Uzorci
Za izradu uzoraka (epruveta), prema nominalnim dimenzijama opisanim u
prethodnom poglavlju, upotrebljen je 3D tampa Replicator 2X, kompanije MakerBot
(SAD), prenika brizgaljke 0,4 mm. Materijal od koga su izraeni uzorci je ABS
plastino vlakno industrijske jaine (prenika 1,75 mm) namenski proizvedeno za
pomenuti 3D tampa.
Pri izradi svih uzoraka su primenjeni sledei parametri tampe:
temperatura ekstrudera: 230oC
temperatura platforme na kojoj se prototip izrauje: 120oC
debljina sloja materijala: 0,3 mm
procenat ispune: 100%
broj slojeva koji se nalaze na spoljanjosti izraenog prototipa: 2
poetni sloj materijala osnova na kojoj se tampa: DA
dodatni oslonci: DA
brzina kojom se kree glava 3D tampaa: 90 mm/s
ugao rastera: +45o/-45o
Izraeno je ukupno 15 epruveta, od kojih: 5 sa slojevima materijala upravnim
na pravac dejstva zateznog optereenja ('H' epruvete); 5 sa slojevima materijala
paralelnim pravcu dejstva optereenja ('V' epruvete); i 5 sa slojevima pod uglom od 45o
u odnosu na pravac dejstva optereenja ('A' epruvete) Slika 3.
297
Svi izraeni uzorci su posebno pripremljeni za ispitivanje stereo-kamerama

obojeni slojem bele boje, na koju su nanete crne referentne take.
Slika 3. Prostorna orjentacija izraenih epruveta i njihov konaan izgled
3.2 Ispitna instalacija

Ispitna instalacija koriena tokom eksperimentalnih ispitivanja je prikazana na
Slici 4, i sastoji se od:
1. Mikrokidalice Tinius Olsen H10KS (Norveka) sa davaem optereenja do
5kN;
2. Sistema za digitalnu korelaciju slika (DIC 'Digital Image Correlation')
Aramis 2M, GOM (Nemaka), sa dve digitalne kamere rezolucije
1600x1200 piksela i maksimalom uestanou semplovanja od 12Hz.
Slika 4. Ispitna instalacija koriena tokom eksperimentalnih ispitivanja
Za precizna geometrijska merenja povrina pop. preseka izraenih epruveta,

upotrebljen je digitalni 3D mikroskop KH 7700 kompanije Hirox (SAD), sa optikim
uveanjem do 500x, i mogunou generisanja 3D modela posmatranih objekata.
298
4 REZULTATI EKSPERIMENTALNIH ISPITIVANJA

Dijagrami zatezanja epruveta, izraenih tehnologijom 3D tampe sa opisanim
parametrima, su prikazani na Slici 5 za V, H i A epruvete, respektivno.
(a)
(b)
(c)
Slika 5. Dijagrami zatezanja (a) V epruveta; (b) H epruveta; i (c) A epruveta
5 ZAKLJUCI I DISKUSIJA DOBIJENIH REZULTATA

Poreenjem rezultata eksperimentalnih ispitivanja, prikazanih na dijagramima u
okviru Slike 5, sa tablinim vrednostima zatezne vrstoe ABS plastike iz Tabele 1,
299
moe se zakljuiti da su samo u sluaju epruveta izraenih sa slojevima materijala

paralelnim sa pravcem dejstva optereenja (V epruvete, 27 32 MPa) vrednosti
zatezne vrstoe u opsegu propisanom za ABS plastiku (25 50 MPa). Vrednosti
zatezne vrstoe druga dva tipa izraenih epruveta su znaajno manje od propisanih
(H epruvete: 11 15 MPa; A epruvete: 7-11,5 MPa). Uzrok ove pojave lei u injenici
da se u sluaju V epruveta dejstvu optereenja u najveoj meri suprotstavlja sam
materijal, dok kod H i A epruveta veliki deo optereenja nose veze izmeu slojeva
materijala. Takoe, prema dijagramima sa Slike 5, oekivano je da sa promenom
prostornog ugla 3D tampe od 0o i 45o (H i A epruvete) ka 90o (V epruvete) u nekom
trenutku dolazi do naglog nelinearnog porasta vrednosti zatezne vrstoe. Stoga
postoji realna mogunost da se u nastavku istraivanja primenom naprednih
statistikih metoda utvrde pouzdane korelacije koje povezuju zateznu vrstou,
jedininu deformaciju i prostorni ugao tampe izraenih prototipa.
ZAHVALNOST
Zbog podrke u nabavci opreme koriene tokom prezentovanih
eksperimentalnih ispitivanja, autori bi iskoristili priliku da zahvale Evropskoj Komisiji u
Beogradu, kao i Ministarstvu prosvete, nauke i tehnolokog razvoja Republike Srbije
za finansijsku podrku Projektima TR35029 i TR14033.
LITERATURA
[1] Klix - Pada vrednost deonica Samsunga nakon krize s Galaxyjem Note 7,
http://www.klix.ba/biznis/pada-vrijednost-dionica-samsunga-nakon-krize-s-
galaxyjem-note-7/161012010, pristupljeno 11.11.2016.
[2] Dimi, A., Mikovi, ., Jelovac, D., Mitrovi, R., Ristivojevi, M., Majstorovi, M.
(2016). Application of rapid prototyping in maxillofacial surgery, KOD 2016, Faculty
of Technical Sciences, University of Novi Sad, p.p. 0-6.
[3] Letcher, T., Rankouhi, B., Javadpour, S. (2015). Experimental study of mechanical
properties of additively manufactured abs plastic as a function of layer parameters,
International Mechanical Engineering Congress and Exposition - IMECE2015,
ASME, p.p. 1-8.
[4] Chilson, L. (2013). The Difference Between ABS and PLA for 3D Printing,
http://www.protoparadigm.com/news-updates/the-difference-between-abs-and-pla-
for-3d-printing/, pristupljeno 11.11.2016.
[5] Letcher, T., Waytashek, M. (2014). Material Property Testing of 3D-Printed
Specimen in PLA on an Entry-Level 3D Printer, International Mechanical
Engineering Congress & Exposition - IMECE2014, ASME, p.p. 1-8.
[6] Torrado Perez, R., Roberson, D., Wicker, R. (2014). Fracture Surface Analysis of
3D-Printed Tensile Specimens of Novel ABS-Based Materials, Journal of Failure
Analysis and Prevention, 14/3, p.p. 343353.
[7] Cantrell, J. et al. (2017). Experimental Characterization of the Mechanical
Properties of 3D-Printed ABS
and Polycarbonate Parts, Advancement of Optical Methods in Experimental
Mechanics, 3, pp.89-105.
[8] SRPS EN ISO 527:2013 (Plastine mase Odreivanje zateznih svojstava).
300
_____________________________________________________________________________
PROPOSAL OF ASSESSMENT METHOD OF DIFFERENT QUALITY

SOLUTIONS OF UNIVERSAL GEAR REDUCERS
Milan Rackov1, Ivan Kneevi2, Sinia Kuzmanovi3, Maja avi4, Marko Peni5,
Sava Ianici6
Abstract: Analysing development activities of leading world companies which produce

gear reducers, it can be noticed that their efforts are directed to improving the general
technical characteristics of universal gear reducer. This paper deals with assessment
procedures and also give some instructions on the basis of which the quality solution
can be defined.
Key words: gear reducer, technical characteristics, assessment procedure.
1 INTRODUCTION
In development services of most of companies, assessment method of
goodness of different quality solutions is continuously done in order to create decision
in right time about improvement and development of new line of gear reducer, or to
define characteristics of new gear reducer line [1,2]. Similar evaluation are done in
sales services of company which produce gear reducers in order to indicate all
advantages of their gear reducer and to encourage potential customers to buy reducer.
Similar assessment is also done in customers dealer services in order to help the
customer to decide for the best solution of reducer in certain moment of time [3,4]. The
purpose of this paper is to point out the common assessment procedures and also to
give the proposal of indicators on the basis of which the quality solution can be
defined. Analysing development activities of leading world companies which produce
gear reducers, it can be noticed that their efforts are directed to increasing the general
technical characteristics of universal gear reducer - increasing of efficiency (), load
capacity (TN), max gear ratio (i), universality of components, weight reducing (m),
dimensions reducing (L), reducing the number of components, etc. [5,6]. Especially, it
should point out that regardless the company policy in terms of product quality (high
quality with high price, good quality with affordable price, satisfactory quality with
1 Assist. Prof. PhD. Milan Rackov, Faculty of Techn. Sciences, Univ. of Novi Sad, Srbija, racmil@uns.ac.rs (CA)
2 Ass. MSc. Ivan Kneevi, Faculty of Techn. Sciences, Univ. of Novi Sad, Srbija, ivanknezevic@uns.ac.rs
3 Prof. PhD.Sinia Kuzmanovi, Faculty of Techn. Sciences, Univ. of Novi Sad, Srbija, kuzman@uns.ac.rs
4 Assist. Prof. PhD. Maja avi, Faculty of Techn. Sciences, Univ. of Novi Sad, Srbija, scomaja@uns.ac.rs
5 Ass. MSc. Marko Peni, Faculty of Techn. Sciences, Univ. of Novi Sad, Srbija, mpencic@uns.ac.rs
6
Prof. PhD.Sava Ianici, Faculty of Mech. Eng., University Eftimie Murgu in Resita, Romania, s.ianici@uem.ro
301
Milan Rackov, Ivan Kneevi, Sinia Kuzmanovi, Maja avi, Marko Peni, Sava Ianici
acceptable price, and acceptable quality with low price), all manufacturers try to
achieve the best quality, and in that way the best market position of their products.
Therefore, development activities of all manufacturers are conducted in this way [7,8].
However, in parallel with these activities, great attention is paid to the verification and
continuous acquisition of the achieved level of quality of their own reducer. In that way,
all advantages of their gear reducer can be used during the sale on the market, so that
all development investments could be valorised. Also, the company seeks to clearly
define all indicators of product quality, as well as usual ways of their verification, so
that all interested customers could be easily convinced in the actual quality of gear
reducer.
2 PROBLEM DESCRIPTION
Almost every product has some specificity, and therefore specific indicators of
quality which largely depends on the type of products and the reasons for conducting
the evaluation. Nowadays, there are evaluations which are conducted by designers,
sellers, customers and so called third side (accredited laboratory, inspection and
certification bodies).
Of course, each of these assessment methods are slightly different from each
other, but the different arises due to various motives assessment. The vendors
emphasize those elements which present the advantage for specific product, in order
to gain new customers and achieve better price. Customers analyse those data that
allow them to evaluate which product gives the best results for the same investment, or
they emphasize those parameters which could reduce the price. Designers who design
the reducer give the most complex quality assessment, usually during the analysis of
technical parameters of competitive gear reducers, or during the defining of technical
characteristics of their own solution. Also, designers conduct the quality assessment
during verification of selected structural solution and establishing the extent to which
technical requirements are set by project task. The third side, usually some
independent institution which is professionally engaged with assessment and
verification of product quality, carry out very complex testing of all products with the
final aim to give the objective evaluation, usually with the aim of verification of achieved
level of product quality.
Due to the importance of this problem, this paper analyse only the assessment
given by the vendors, since this way of evaluating is the most important in defining the
data available to customers and technical public. This material is available through
prospectus and catalogues, and also with all other forms of product presentation,
which designers should pay special attention when selecting gear reducer.
The basic task of designers is to design quality products, but also to define
quality indicators through which the reducer will be able to easily follow during the
process of manufacturing and exploitation [3,8,9]. Also, designers should define quality
indicators which will help to potential customers and users of reducer to make sure about
their actual quality. The purpose of this paper is to point out the most important quality
indicators and the usual ways and possibilities of implementing these evaluating in the
case of universal gear reducer, as the most common type of mechanical transmissions.
In the process of selecting gear reducer, or motor gear unit, it is well known that it
proceeds from given project task, technical characteristics of gear unit (defined on the
basis of available catalogues of gear reducer companies), their quality (based on the
past experience), their price, possibility of eventual bank crediting and delivery dates, but
sometimes habits and established business connections can have a great influence on
the final choice of gear unit. Manufacturers of gear reducers try to present all technical
302
Proposal of Assessment Method of Different Quality Solutions of Universal Gear Reducers
characteristics of their gear units in their catalogue and, with appropriate instructions;
they leave the customers or designers, who select gear unit, to make the final choice
about selection. Of course, in more complex cases of driving, or for not enough skilled
customers, producer is ready to help with selecting right gear unit. However, there are
always some possibilities which are not exploited since the potential customer already
posses a catalogue of their products. Catalogue does not refer enough the quality of
gear units and the advantages that comes with installed particular gear unit. This
problem should be solved, beside all given technical characteristics data, by highlighting
the way of design solution, manufacturing, testing, control, conservation and packing of
gear unit. Especially, it should highlight the efficiency, service life of gear reducer, or its
lifetime, reliability of important elements, during different regimes of exploitation, i.e.
usual percentage of failure, noise level, vibration level which they create, vibration level
which can expose gear unit (especially their own frequency of gear units), the size of
inertia moment in individual gear ratio, thermal capacity of gear unit, etc. Additionally,
producer must provide a separate document supplied with each gear reducer as an
evidence of quality, which should be announce in a catalogue. These documents for
example could be the results of efficiency measuring (only for larger gear units, and
results of types testings for others reducers), measuring of working temperature,
reducers noise and vibration for nominal and maximal load capacity, etc. It is very well
known that long-lasting quality can be provided and guaranteed only by correct
installation, exploitation and maintenance of reducer. For providing these parameters, it
is very important to know the reducer behaviour on the test bench, after manufacturing,
in order to assess its condition after installation (proper installation) and during
exploitation (proper operation of gear unit), or after service, and especially after gear
reducer repair (quality of performed work). Looking at todays catalogue of leading
manufacturers of gear units, it can be noticed that unfortunately these factors are not
given sufficient attention, although according to current standards, primarily groups of
ISO 9000, they were obliged to do that. Many manufacturers believe that displaying
general information about reducer and stating that they have a quality certificate (mostly
ISO 9001), they give everything what customer needs to know about quality of gear
reducer and its quite enough for successful placement of gear unit. However, it is
unfortunately not enough for customers. The customer wants to know more about gear
reducer and about the product which is purchased. The point of this paper is highlight the
importance, necessity, ways and possibilities of stronger noticing the general quality of
reducer, as well as the ways of achieving and verification them. This is especially
interested nowadays when the catalogues are displayed electronically or on-line in
manufacturers website, so there is no reason to save the paper for catalogue, which has
so far been the main reason that something not appear in paper catalogue [5,6,9,10,11].
3 THE BASIC INDICATORS OF GEAR REDUCER QUALITY

Designers who select and use gear units, or gear unit purchaser, must be
familiar with all technical characteristics of gear reducers, so that they could notice
their characteristics and eventual advantages compared to competing solution. It is
necessary to implement certain evaluation in order to make a final assessment which
gear unit is the best, or the decision which gear unit should purchase and install. In
this, beginning, phase of selecting gear reducer, the customer is usually offered by
only technical characteristics of gear units given in the gear reducer catalogues. The
basic technical characteristics of gear units (except efficiency, ) do not represent
some especially important indicators of quality, for example: nominal torque (load
capacity) - TN, axis height - h, the highest gear ratio - imax, weight of gear unit - m.
303
However, if these characteristics are observed depending on each other, then they
become very important quality indicators. For example, in the frame of the same axis
height, with equal efficiency and equal gear ratio, gear reducer with bigger nominal
torque is better, or for gear units with equal gear ratio, better gear unit has smaller
number of gear pair, etc. Having in mind these circumstances of evaluating, customers
or designers who select and choose gear unit, usually practice to compare the
efficiencies or percents of failure, but also following indicators TN /h, m /h, umax /h,
TN /m, m /TN, etc. and based on that to define quality of particular solution. Therefore,
during the development of gear reducer, it is necessary to pay special attention to
these indicators or to explain in catalogue why certain indicator has particular value, in
order to help the customers to select and purchase the right gear unit [8,9].
The most frequently used indicator TN/h represents the ratio of nominal torque
(load capacity) and axis height of gear unit. This quality indicator shows how power the
particular gear unit is. However, this indicator depends very much of the highest value of
gear ratio which can be achieved with respective gear reducer. If gear reducer is
projected with small gear ratio, gears inside it can be manufactured with larger values of
modules which provide bigger load capacity. Customer is interested to have power gear
unit, although, during the process of designing gear reducer series, it must be take care
about competition and produce gear reducer with similar characteristics, but also with
some advantages over competing solutions. However, this indicator greatly depends on
companys attitude, in which segment the company want to achieve an advantage over
the competition. This advantage should be specially highlighted in the catalogue, but
there are manufacturer which offers two different sets of gears in the frame of same
housing, so they can offer reducer with high load capacity and small gear ratio, but also
smaller load capacity with high gear ratios. This approach is certainly more expensive,
but its the most convenient since the competition cannot provide cheaper solution in a
less favourable area, for example within smaller gear ratio to offer smaller reducer, or for
the higher gear ratios to offer reducer with smaller number of gear stages [7,9].
Indicator m/h, represents the ratio of the weight and axis height of gear unit and
it indicates the perfection of technical solution. Low weight of gear unit usually means
application of more precise structural calculation, using more quality materials, modern
manufacturing technology (gears are usually made by forging), application of modern
technology of casting making the walls of housing thinner, etc. Although, it could also
mean overextended structural solution with low efficiency coefficient, or with short life
time, which should be highlighted in catalogue what is the problem in the particular
case. Customers usually need that this indicator is as large as possible, for the same
price of gear reducer, believing that this results in less loaded material, although it is
difficult to achieve since higher consumption of material certainly affect the higher
production costs and thus bigger price.
Indicator imax/h, represents the ratio of the highest gear ratio and axis height and
it corresponds with selected structural solution, which also means that manufacturer
posses modern technology for manufacturing gear teeth. This indicator is usually
considered together with indicator TN/h since they describe general characteristics of
selected gear reducers. Using of indicator TN umax/h as method for evaluating gear unit
quality can be recommended since it includes most of important parameters [9].
Indicator TN/m, represents the ratio of load capacity and weight of gear unit,
and it tells about rationality of selected structural solution, i.e. about rationality of used
material. For customers, at a first glance, it is interesting that it should be as smaller as
possible, since it gives impression of a smaller of a smaller load of material. Although,
it usually tells about application of weaker materials and outdated technologies, so it
should be specially commented in catalogue.
304
Indicator m/TN, represents the ratio of weight of gear unit and its load capacity,
and tells how much material is used for transferring the unit load. Everything said for
previous indicator is also valid for this.
Comparing these indicators, without taking the cost of gear unit, only general
review of the quality of gear units can be obtained. However, if take the cost of gear
units into consideration, which depends on various factors, first of all it depends on
company policy and adopted concept. Also it depends on applied technologies and
materials used for its manufacturing, it can be obtained much more realistic picture
about quality of particular solutions.
4 INFORMATION WHICH DATA SHOULD BE INCLUDED IN CATALOGUE

Based on given data, it follows that it should highlight the information about
selected concept used for defining technical parameters of gear unit: small gear ratio
and large load capacity, or high gear ratio and small load capacity or both higher
parameters (with two different gear sets) [12,13,14]. Manufacturing process must be
defined, in order the customer could have insight why particular gear unit is so light, or
heavy, or so expensive [15,16]. Additionally, it is necessary to specify all discussed
parameters, in order to create a realistic picture of the real quality of gear reducer.
5 EVALATION PROCEDURE
During the each stage of gear reducer development (starting from researching
of project task, researching of technical proposal, models, prototypes, zero series, test
series and at the end main series), assessment of adopted structural solutions is
required, in order to determine whether all parameters are achieved. After finishing
design process, assessment of complete structural solution is done in order to review
overall quality of new design or reconstructed design solution and to bring decisions
about eventual additional activities on further finishing the product, or decisions about
sale price of particular gear unit, etc. This assessment is usually done by comparing
certain parameters of new design solution with certain parameters of similar (derived)
gear units by which provides the results achieved by design, or the actual quality of
particular product. The assessment is usually done by comparing unit parameters of
quality of evaluated gear unit (xi) with appropriate parameters of some base
(measurement standard) gear unit (xbi). Obtained indicator qi = xi / xbi is a value which
indicates the quality of product.
Together with unit quality indicators, complex quality indicators (Xi) are also used.
They take into account multiple unit indicators (xi), so that the final quality assessment is
value Qi = Xi / Xbi which represents number for assessment of product quality [7,8,9].
For example, comparing the unit indicators of universal gear reducer of the
highest gear reducer or the largest load capacity, certain quality assessments are
obtained. However, comparing complex indicators, for example the ratio of weight and
gear ratio or load capacity, much relevant information is obtained about the quality of
structural solution.
Quality evaluation is also done during the selection of gear units, i.e. during
purchasing, as well as in the moment of handover the product. In that moment,
particular tests and evaluation are carried out in order to confirm the customer about
the quality of handover product.
305
6 PROCEDURE OF EVALUATION GEAR UNIT THROUGH SCORE SYSTEM

Already in the process of design of gear reducer it is necessary to determine
the property of particular components, when it had not determined their final shape or
dimensions. Designers inventiveness and skill come in full expressions in that
moment. For example, its very easy to perform assessment of some indicator value, if
same indicator value for an ideal gear unit and the same purpose is known.
Indicator value is usually represented as a ratio of assessment of evaluated
indicator and particular assessment of the best (ideal) indicator. If some variant is
evaluated with a value which aspires to zero, than this solution completely fails, but if it
is valued with one, it represents ideal solution. The properties are usually evaluated by
scores: 4 - ideal solution, 3 - good solution, 2 - sufficiently solution, 1 - satisfactorily
solution, 0 - unsatisfactorily solution. When evaluating product with small differences,
ten points scoring system is used: 10 - ideal solution, 9 - far above the set target, 8 -
above the set target, 7 - very good solution, 6 - good solution, 5 - sufficiently solution, 4
- moderate solution, 3 - deficient solution, 2 - practically usable solution, 1 - practically
unusable solution, 0 - absolutely unusable solution [7,8]. In this evaluation one element
can have different roles, which can bring inaccurate assessment. Therefore, a factor of
importance is introduced into the consideration. Its values are: 4 - the largest impact, 3
- big impact, 2 - important impact, 1 - small impact and 0 - without any impact.
Since the number of elements which can be used is practically unlimited, there
are three recommended criteria: 1 - criteria of security and complexity, 2 - criteria of
meeting function condition and 3 - criteria of economy [7,8].
7 EVALUATION FOR TWO-STAGES GEAR REDUCERS

Assessment of analysed solutions is performed in order to achieve simplier
manufacturing and installation, reducing the overall dimensions and weight of gear unit
and proper meshing of tooth flanks of two gears. Since two-stage gear reducers are very
often used, it will be given the example of their evaluation. For assessment of structural
solution, it is very important that installation of elements of gear unit is as simplier as
possible, but in the same time the fitting of gear teeth must be as uniform as possible.
For output shaft of gear unit, usually one bearing should take axial force in
order to save the price of bearings and to allow as easier instalation and removal as
possible. Also, it was taken an attention about the arrangement of gear wheels, since
they take influence on load bearing, and thus on their size, possibility of installation and
operating life. It was also taken an account that installation and mounting of bearings
and snap rings is done from outside of housing, since the installation is much easier
then [7,8,9].
A certain problem for some solution could be a request for strong inside
bearing on so called fifth geared shaft which is not be possible to mount into the middle
wall of housing because of small available place. Some manufacturers solve this
problem by mounting three bearings on this shaft, which is more expensive solution.
Other manufacturers use stronger shaft and cylindrical roller bearing which has
significantly higher radial load capacity, but also possibility to accept large axial force.
This increase rigidity to whole construction [7,8,9].
There are several possibilities of structural solutions for two-stage gear units. In
order to increase compactness of structure solution, shafts of gear unit are positioned
ina triangle. Usually input and output shaft were coaxial, but modern gear units have
non-coaxial position of shafts in order to increase values of gear ratio.
306
On the basis of analysed characteristical structural solution of universal two-

stage gear units, four cases are evident (Fig. 1). Solutions a, d in Fig.1 require
application of the housing with one chamber, but solutions b, c in Fig.1 need two-
chambers housing.
Based on the analysed structural solution of two-stage gear reducers [9], it can
be concluded that the cheapest and best solution for two-stage gear unit is mounting in a
special housing for two-stage gear unit. It is solution when output gearwheel is positioned
overhanged on a shaft and the second and third gears are between the bearings (Fig.1-
a). For gear pairs mounted in the same housing for two-and three-stage gear units, the
best solution is output gear positioned between bearings and the second gear
overhanged (Fig.1-b). Also for this case, good but expensive solution is output gear
positioned between bearings and the third geared shaft is installed on three bearings
(SEW, Siemens-Flender, Nord Rossi, Fig.1-c). There is another solution with all gears
between bearings (Fig.1-d), but it is used for smaller gear reducers (Lenze MultiMount),
when all gears are placed in the same chamber, and is used very rarely.
EM EM
) Gear reducer with overhanged output b) Gear reducer with output gearwheel
gearwheel, nd second and third gear between the bearings, nd overhanged
between the bearings second gear
EM EM
c) Gear reducer with output gearwheel

d) Gear reducer with all gears
between the bearings, and the third geared
between the bearings
shaft installed on three bearings
Figure 1. Possible structural solutions of two-stage universal gear reducers with special
reducer electric motor [9]
8 CONCLUSION
Based on performed research, two kinds of assessment the gear unit are
evidently different. One kind of evaluation is performed by designers, and the other
assessment is done by sellers and customer. Concept and structural solution of gear
unit are not important for evaluation which is done by sellers and customer. They are
interested only in its price, quality, easy service ability, etc., so that these factors are
not considered in the paper.
Process of assessment, which is carried out by designers, is certainly more
complex. Beside of assessment of technical parameters and production costs, selected
structural solution is evaluated. Solutions of gear reducers with fewer components are
certainly more economic, but manufacturers who produce two- and three-stage gear
units in large series, usually use one unique housing in this case.
307
ACKNOWLEDGMENT
This paper is part of a research on project "Research and development of a
new generation of wind generators of high energy efficiency" TR 35005, supported by
the Ministry of Education and Science, Republic of Serbia.
REFERENCES
[1] Kuzmanovi, S. (1995). Projektovanje familije univerzalnih zupastih motornih
reduktora, Peti Severov simpozijum o mehanikim prenosnicima, Subotica 12. i 13.
oktobar 1995.
[2] Kuzmanovi, S. Prikaz pokazatelja kvaliteta univerzalnih reduktora, asopis
Menadment totalnim kvalitetom, No 3/4, Vol. 25, 1997. p.p. 43-47
[3] Kuzmanovi, S., Vere, M., Rackov, M. (2009). Analysis of Characteristical
Mounting Ways of Gear Wheels in Universal Gear Reducers, In: Budowa Maszyn i
Zarzadzanie Produkcja, Vol. 11 - 2009, Zeszyty Naukowe Politechniki Poznanskiej,
Wydawnictwo Politechniki Poznanskiej, Poznan, Poland, pp. 81-91.
[4] Kuzmanovi, S. (2009). Universal Helical Gear Reducers. 2nd ed. University of
Novi Sad.
[5] NORD Drivesystems, Standard Helical Gearboxes, G 2000.
[6] SEW Eurodrive, Catalogue Gear Units, Edition 06/2010-16997611
[7] Kuzmanovi, S., Milaevi, K. (1987). Predlog naina ocene podobnosti
mehanikih prenosnika, 5. Jugoslovenski simpozijum Maine i mehanizmi,
Univerzitetska istraivanja i primena u industriji, Petrovac 5-7. oktobar 1987.
[8] Rackov, M., Kuzmanovi, S. (2011). Proposal of Assessment Method for the
Conceptual Design of Universal Helical Gear Reducers. In: Book of Proceedings of
7th International Scientific Conference Research and Development of Mechanical
Elements and Systems, Zlatibor: Univ. of Ni, 27-28 April 2011. pp. 469 - 474..
[9] Rackov, M. (2013). Conceptions of Development of Universal Gear Reducers.
Doctoral dissertation: University of Novi Sad.
[10] Lenze, L-force, Getriebemotoren, de 02/2010
[11] Siemens, MOTOX Geared Motors, Catalogue D87.1-2011
[12] NORD Gear Corporation, Constant Speeds, NORDBLOC 1011/2000,
100200003/1103.
[13] Rossi, E04 Coaxial Gear Reducers and Gearmotors (standard and for traverse
movements), Edition December 2010, 4002BRO.ECO-en 1210 HQM
[14] Bonfiglioli Riduttori, S series, Single Stage Gearboxes, COD. 1044 R8, 120127,
Bologna, Italy
[15] NORD Drivesystems, Operating & Instruction Manuals for Gear Units, B 1000,
100200104/0909.
[16] SEW Eurodrive, Using Instruction, Reducer Types R..7, F..7, K..7, S..7, Spiroplan
W, Edition 02/2008-11691239
308
_____________________________________________________________________________
PRIMJENA ADITIVNIH TEHNOLOGIJA U REKONSTRUKCIJSKOJ

MEDICINI
Emine Hozdi1, Elvis Hozdi2
Rezime: U duhu utemeljenja koncepta Industrije 4.0, u svim porama ljudskog ivota
nastoje se implementirati kljune tehnologije tog novog koncepta. Jedna od takvih
naprednih, modernih tehnologija je i tehnologija koja omoguava aditivnu proizvodnju.
Primjena aditivnih tehnologija i postupaka ima veliku ulogu u procesima
rekonstrukcijske medicine. U radu je prikazana primjena aditivnih postupaka i
tehnologija u domeni rekonstrukcijske medicine sa posebnim akcentom na domenu
rekonstrukcije dojke po izvrenoj amputaciji radikalnom mastektomijom.
Kljune rijei: aditivne tehnologije, 3D printer, 3D skener, rekonstrukcijska medicina
APPLICATIONS OF ADDITIVE TECHNOLOGIES IN RECONSTRUCTIVE MEDICINE

Abstract: In the founding concepts of Industry 4.0, in all the spheres of human life the
key technologies of this new concept are trying to be implemented. One of such
advanced, modern technologies is the technology that enables additive production.
The use of additive technologies and processes has a major role in the process of
reconstructive medicine. This paper presents the application of additive processes and
technologies in the field of reconstructive medicine, with a special emphasis on the
field of breast reconstruction after the radical mastectomy performed amputation.
Key words: additive technologies, 3D printer, 3D scen, reconstructive medicine
1 UVOD
Razvoj u biolokim naukama i bioinenjerstvu stvorio je okruenje koje iziskuje
sjedinjenje inenjerskog projektovanja i proizvodnje s ciljem potpore u rijeenju
biolokih i medicinskih problema razliite prirode. Nadolazea industrijska revolucija
nosi sa sobom obiljeja naprednih tehnologija, izmeu ostalog, 3D skeniranja i 3D
printanja. Razvoj modernog inenjerskog projektovanja i proizvodnje, biomaterijala,
biologije i medicine, u velikoj mjeri doprinosi primjeni savremenih aditivnih tehnologija
1 Master student, Emine Hozdi, University of Ljubljana, Faculty of Mechanical Engineering, Ljubljana,
Slovenija, emine_hozdic@yahoo.com
2
PhD candidate Elvis Hozdi, University of Ljubljana, Faculty of Mechanical Engineering, Ljubljana,
Slovenija, ehozdic@yahoo.com
309
Emine Hozdi, Elvis Hozdi
(ang. Additive Manufacturing AM) i reverzibilnog inenjerstva (ang. Reverse

Engineering RE) u oblasti biolokog i medicinskog inenjerstva.
Rekonstrukcija dojke danas je iroko prihvaena metoda u lijeenju karcinoma
dojke nakon modifikovane radikalne mastektomije. Hiruka rekonstrukcija vri se sve
sloenijim tehnikama da bi se dobio to bolji rezultat sa to manje komplikacija i
posljedica. Rekonstrukcija dojke se moe napraviti implantatima (implantat stalne
zapremine, tkivni ekspander sa implantatima, Bekerov implantat), autolognim tkivom
(peteljkasti i slobodni renjevi) i kombinacijom implantata i autolognog tkiva [1], [2], [3],
[4].
Medicinski implantati su se godinama proizvodili konvencionalnim
tehnologijama kao to su: precizno livenje, konvencionalna i CNC mainska obrada,
kovanje, metalurgija praha, bruenje i poliranje. Meutim, ove tehnologije su pokazale i
odreene nedostatke od kojih je najvaniji nemogunost preciznog definisanja
geometrije i veliine implantata.
Primjene aditivnih tehnologija u proizvodnji medicinskih implantata poinje
zauzimati znaajno mjesto, te je temeljem toga, tema ovog rada usmjerena ka primjeni
aditivnih tehnologija u domeni rekonsrukcije dojke po mastektomiji.
2 ADITIVNA PROIZVODNJA I REVERZIBILNO INENJERSTVO

Meunarodna komisija ASTM International F42 definira aditivnu proizvodnju
kao: proces povezivanja materijala pri pravljenju objekata izravno iz 3D raunarskih
modela, najee sloj na sloj, to je suprotno suptraktivnom nainu proizvodnje [5].
Brza izrada prototipa oznaava tehnologije kojima je mogue direktno iz
digitalnog prikaza prostornog ili trodimenzionalnog (3D) modela, napravljenog u nekom
od CAD alata, stvoriti njegovu fiziku reprezentaciju i posve funkcionalan i relativno
kompleksan radni prototip.
Gradnja modela bazira se na digitalno rezanim slojevima modela koji se u
fizikom prostoru sloj po sloj lijepe u finalni oblik. Prednost gradnje u slojevima je
izrada kompleksnih oblika koje je klasinim metodama gotovo nemogue izraditi.
Mogue je izgraditi komplicirane strukture unutar modela i tanke stjenke.
U svim postupcima proizvodnje prototipa faze izrade su iste i sastoje se od [6]:
izrada CAD modela,
pretvaranje CAD modela u STL datoteku,
prebacivanje STL datoteke na AM stroj,
podeavanje parametara AM stroja,
izrada prototipa,
vaenje prototipa,
naknadna obrada, ako je potrebna,
primjena.
Pojam reverzibilno inenjerstvo (RE) u okviru mainstva, u uem smislu, moe
se definisati kao proces dupliranja neke postojee komponente, sklopa ili proizvoda,
bez pomoi crtea, tehnike dokumentacije ili kompjuterskog modela. U irem smislu,
RE se moe posmatrati kao sistemski prilaz za analiziranje nekog postojeeg ureaja
ili sistema i moe se primjeniti kako za prouavanje procesa projektovanja (odreenog
dijela/sistema) tako i kao poetni korak u procesu redizajniranja u cilju posmatranja i
pristupa mehanizmima na osnovu kojih ureaj funkcionie. U kontekstu prethodnog,
tehnika RE se moe primjeniti i radi ralanjivanja i prouavanja unutranjih radnih
dijelova mainskog ureaja, odnosno uporeivanja aktuelnog ureaja sa sprovedenim
analizama u cilju dobijanja prijedloga za poboljanje [7].
310
Primjena aditivnih tehnologija u rekonstrukcijskoj medicini
Proces reverzibilnog inenjerstva odvija se u dvije faze. Prva je 3D skeniranje

ili digitalizacija. To je postupak prikupljanja podataka s trodimenzionalnog objekta i
njegov prikaz u digitalnom obliku. Druga faza je 3D modeliranje objekta na temelju
dobivenih podataka iz 3D digitalizacije [5].
2.1 Talono sraivanje

Talono sraivanje (ang. Fused Deposition Modeling FDM) jedan je od
brojnih postupaka aditivne proizvodnje, koji je orginalno razvijen u firmi Advanced
Ceramics Research (ACR) u Tucson, Arizona, da bi ga neto kasnije znaajno
poboljala firma Stratasys, Minnesota, USA. Postupak zapoinje 3D CAD modelom,
koji je raunarskim programom podijeljen u vodoravne slojeve.
Kod FDM postupaka kao materijal upotrebljavaju se plastomeri u obliku ice
koji se zagrijavaju i zatim, na taj nain omekani ekstrudiraju sloj po sloj, stvarajui 3D
oblik [8].
3 IZRADA PRAKALUPA NA OSNOVI 3D MODELA ZDRAVE DOJKE PRIMJENOM

REVERZIBILNOG INENJERSTVA I ADITIVNIH TEHNOLOGIJA
Pri rekonstrukciji dojke vlastitim tkivom dugo vremena se oblik rekonstruirane
dojke formirao subjektivnim iskustvom kirurga. U tu namjenu su koritene subjektivne
metode vizualnog promatranja fotografije te metode rengenskog ili magnetnog 3D
slikanja. S primjenom savremenih optikih 3D mjernih tehnika otvorene su nove
mogunosti za brzo i neinvazivno mjerenje dojki i prsnoga koa prije i poslije
operativnog zahvata.
Godine 2011, na UKC Ljubljana u sudjelovanju s Fakultetom za strojarstvo
Ljubljana razvijena je nova metoda rekonstrukcije dojke kod bolesnika s karcinomom
dojke [4]. Dijagram toka aktivnosti pri izradi kalupa za rekonstrukciju dojke ovom
metodom prikazana je na slici 1.
Slika 1. Dijagram toka aktivnosti pri izradi kalupa

koji se koristi pri rekonstrukciji dojke [4]
311
Dijagram toka sastoji se od pet aktivnosti i to: 3D skeniranja zdrave dojke

pacijenta, izrada simetrinog snimka dojke metodom zrcanja, izrada trodimenzionalnog
modela kalupa i generiranje G koda za CNC obradu, CNC izrada kalupa i vakumsko
formiranje konanog oblika kalupa iz folije.
U nastakvu ovog rada prikazana je mogunost da se u procesu izrade kalupa
za potrebe rekonstrukcije dojke, umjesto CNC obrade uvede izrada prakalupa
tehnologijama aditivne proizvodnje, slika 2.
Slika 2. Aktivnost izrade prakalupa aditivnim postupkom [9]
Za potrebe ovog rada fokus je postavljen na izradu modela prakalupa

dostupnim tehnologijama aditivne proizvodnje na Fakultetu za strojarstvo u Ljubljani.
3.1 3D lasersko skeniranje zdrave dojke pacijenta

U projektu [4], primjenom 3D laserskog snimanja pri izradi kalupa za potrebe
rekonstrukcijskih zahvata kod pacijenata oboljelih od karcinoma dojke, izvreno je
lasersko skeniranje zdrave dojke pacijenata, slika 3. Za skeniranje je upotrebljen MCE
3D skener laboratorije MCE FS Ljubljana.
Slika 3. 3D skeniranje zdrave dojke pacijenta [4]
Lasersko 3D skeniranje predstavlja prvi korak u procesu reverzibilnog

inenjerstva. Ovaj korak karakterie prikupljanje podataka o koordinatama taaka na
povrini zdrave dojke pacijenta, koji se zatim prevode u digitalni oblik. Rezultat 3D
digitalizacije je skup taaka dojke iji je poloaj definiran X, Y i Z koordinatama. 3D
snimak se potom prebacuje u odgovarajui softver koji omoguava preureivanje
dobivenih snimaka i zrcanje, kako bi se iz simetrije dobila slika dojke koju je potrebno
rekonstruisati, kao to su MeshLab, Meshmixer, Geomagic studio, Rhinoceros i sl.
312
3.2 Kompjuterska obrada 3D snimka

MeshLab je programski alat za obradu i ureivanje 3D nestrukturiranih
triangularnih mrea. Namijenjen je obradi tipinih nestrukturiranih modela iz 3D
skeniranih snimaka, prua niz alata za ureivanje, ienje, iscjeljivanje, nadzor,
glaanje i konvertovanje svih vrsta mrea dobivenih u procesu 3D skeniranja, slika 4.
Slika 4. Ureivanje 3D snimka dojke u programu MeshLab [9]
Dodatna dorada 3D snimka napravljena je u programskom alatu Meshmixer,

slika 5.
Slika 5. Dodatno ureivanje 3D snimka dojke u programu Meshmixer [9]
Nakon obrade 3D snimka slijedi proces stvaranja 3D modela prakalupa koji e

posluiti za izradu konanog oblika kalupa za rekonstrukciju dojke, primjenom
postupka vakuumskog preoblikovanja. Generirana 3D povrinska slika prenosi se u
softversko okruenje za modeliranje trodimenzionalnog kalupa. Najee se
primjenjuju softverski alati bazirani na CAD osnovama, kao to su SolidWorks,
Geomagic Design X i slino.
3.3 Izrada 3D modela prakalupa u modelirnom okruenju SolidWorks-u

SolidWorks je programski paket za raunarsko podrano konstruisanje i
ininjerske analize. U osnovi je utemeljen na tri paketa: 3D modelirnika (part design),
modula za sastavljanje i montau (assembley design) i modul za izradu tehnike
dokumentacije (drawing design).
Prije samog uvoenja poligonalnog modela, u STL formatu datoteke,
neophodno je po pokretanju SolidWorks-a namjestiti funkcije u Add-Ins, odnosno
ukljuiti opciju ScanTo3D. Nakon toga, omogueno je otvaranje datoteke formata
Mesh Files, ime se obezbjeuje uvoenje 3D snimka u modelirno okruenje.
313
Upotrebom funkcija Mesh Prep Wizard popravljen je poligonalni model u

SolidWorks-u, a pomou funkcije Surface Wizard izraen je CAD model, slika 6.
Slika 6. Stvaranje CAD modela u SolidWorks-u [9]
Koritenjem funkcije Filed Surface i funkcije Knit Surface u SolidWorks-u

omogueno je stvaranje kompaktnog povrinskog modela prakalupa, slika 6.
Za stvaranje prakalupa potrebno je dizajnirati pomoni objekt u obliku
zaravnjene piramide, sa rubovima zakoenim pod uglom od 5 stepeni. Tako
konstruisano tijelo (solid) postavlja se u presjek sa uveenim 3D modelom snimka
zdrave dojke, slika 7.
Slika 7. Formiranje presjeka dva geometrijska tijela u SolidWorks-u [9]
Koritenjem funkcije Delete Face odstanjena je gornja povrina koja se formira

u presjeku dva geometrijska tijela. Isti postupak odsjecanja povrina u postupku
stvaranja prakalupa napravljen je do konanog izgleda modela prakalupa, slika 8.
Slika 8. 3D model prakalupa
Kako je dobiveni kalup izraen na geometriji zdrave dojke, neophodno je

njegovo simetrino preslikavanje, kako bi se dobio kalup istih geometrijskih veliina za
dojku koja se rekonstruie. Prezrcani 3D model prakalupa se u STL formatu datoteke
izvozi u program koji upravlja Ultimaker orginal printerom.
314
3.4 Izrada prakalupa postupkom FDM

Dobiveni model kalupa u modelirnom okruenju SolidWorks transportovan je u
formatu STL u softverski alat CURA 2.1.3, koji upravlja 3D printerom Ultimaker orginal,
slika 9. U CURA 2.1.3. softveru mogueno je podeavanje postavki ovisnih o
koritenom printeru, o modelu i materijalu koji se koristi.
Slika 9. Postavljanje parametara izrade prakalupa u programskom

okruenju CURA 2.1.3. [9]
Iz vidika samoga modela, CURA 2.3.1. softver omoguava definiranje

geometrijskih veliina uveenog prakalupa. Stvarne dimenzije prakalupa koji je
konstruiran u SolidWorks-u na temelju dobivenog 3D snimka su 160 x 160 x 105,21
[mm]. Za printanje takvog modela sa normalnom kvalitetom i automatskim
parametrima stroja bilo bi potrebno 2 dana, 5 sati i 6 minuta, te oko 60, 1 [m]
materijala. S ciljem utede na materijalu i vremenu izrade, za potrebe eksperimenta,
izvreno je automatsko skaliranje dimenzija na dimenzije modela 110 x 110 x 72,3
[mm] ime se skrauje vrijeme izrade na 20 sati i 55 minuta, te upotreba materijala u
duini oko 21,09 [m]. Konani oblik izraenog prakalupa prikazan je na slici 10.
Slika 10. Konani izgled prakalupa dobiven postupkom aditivne proizvodnje [9]
4 ZAKLJUAK
U radu je opisan postupak primjene aditivnih tehnologija u domeni
rekonstrukcijske medicine, prvashodno u procesu rekonstrukcije dojke nakon izvrene
amputacije dojke izazvane oboljenjem od raka.
Realizacijom ideje da se proces izrade kalupa za oblikovanje implantata, koji
se upotrebljavaju u rekonstrukciji dojke, unaprijedi primjenom novih tehnologija,
ostvaren je cilj izrade prakalupa postupkom aditivne proizvodnje.
315
Opisan je cjelokupan tok proizvodnje utemeljene na aditivnim postupcima od

ideje do konanog proizvoda, uz primjenu reverzibilnog inenjerstva. Na taj nain
blisko je opisana mogunost komponovanja savremenih tehnologija Industrije 4.0, od
procesa generisanja podataka i njihovog prenosa u digitalnu formu do izrade fizikog
proizvoda. Digitalizacijom podataka omoguen je proces reverzibilnog inenjerstva,
otvoren put za savremene metode stvaranja modela i konanici omoguen
jednostavniji put za nastanak eljenog proizvoda, najee individualne prirode.
U daljnjem istraivakom radu bi bilo poeljno fokusirati se na sjedinjavanje
postupka izrade prakalupa aditivnim tehnologijama i vakuumskog formiranja konanog
oblika kalupa kako bi se napravile znaajne utede na vremenu izrade i kvaliteti samog
proizvoda. Takoer, bilo bi poeljno daljnje istraivanje u domeni primjene materijala,
njihovih karakteristika i mogunosti, prije svega otpornosti na temperature u rasponu
sterilizacijskih okvira. Kljuan je razvoj normi za materijale i same aditivne tehnologije,
kako bi se dostigla vea preciznost, tanost i kvaliteta povrina dobivenih ovim
tehnologijama.
LITERATURA
[1] Vinji, M. Kovaevi, P. Paunkovi,L. orevi, G. Buevac,D. and Vinji,A.
(2009). Breast reconstruction following amputation for cancer, Vojnosanit. Pregl.,
vol. 66, no. 6, pp. 427433.
[2] Vrabi, E. (2009). Breast reconstructions after breast cancer treating, Zdrav.
Vestn., vol. 78, no. 1, pp. 197200.
[3] Floriani,U. Majdi, E. Hoevar,M. and Ahan, U. (2011) Current surgery for
breast cancer: reconstruction methods after conservative operations and after
mastectomy, Zdrav. Vestn., vol. 80, pp. 127136.
[4] Ahan, U. Braun, D. Zivec, K. Pavli,R. and Butala, P. (2012) The use of 3D laser
imaging and a new breast replica cast as a method to optimize autologous breast
reconstruction after mastectomy., Breast, vol. 21, no. 2, pp. 1839, Apr.
[5] Godec, D. and ercer, M. (2015). Aditivna proizvodnja. Zagreb: Faculty of
Mechanical Engineering and Naval Architecture.
[6] Gibson, I. Rosen, D. W. and Stucker, B. (2010). Additive Manufacturing
Technologies. Boston, MA: Springer US.
[7] Planak, M. (2019) Brza izrada prototipova modela i alata - Rapid Prototyping and
Rapid Tooling. Novi Sad: University of Novi Sad, Technical Faculty Mihajlo Pupin
Zrenjanin.
[8] Pilipovi, A. ercer, M. and Valentan, B. (2011)Use of low-cost 3D printers and the
influence of parameters on the precision and mechanical properties, in
Proceedings of 13th International Scientific Conference on Production Engineering -
CIM 2011, pp. 187194.
[9] Hozdi, E. (2016) Uporaba aditivnih tehnologij v rekonstrukcijski medicini,
dodiplomski rad, mentor dr.Drago B.: University of Ljubljana, Faculty of Mechanical
Engineering.
316
_____________________________________________________________________________
EXPERT SYSTEM SUPPORT IN PRODUCT DESIGN FOR ADDITIVE

TECHNOLOGY AND REVERSE ENGINEERING
Neboja Raovi1, Adisa Vuina2, Milenko Obad3
Abstract: The design for the domain of CAD/CAM systems is a process of decision
making where technical solutions have been applied in order to achieve predefined
objectives. There are many factors influencing the production of a part that can affect
the quality. This paper presents an expert system that provides support for the analysis
of CAD model design and its transformation in order to improve production parameters.
The system provides multiple analysis as the basis for proposing optimal solution of
manufacturing process. Validation of results of the system model is verified through the
use of reverse engineering techniques.
Key words: CAD, expert system, additive technology, reverse engineering
1 INTRODUCTION
The design process requires multiple phases of the product development [1].
The new parts, configurations and assemblies are presented by some kind of rules,
equations and schemes. Each one represents something new and unique [2]. Different
approaches have been taken with the aim to optimize the design of a product in
additive domain [3-7]. A CAD model is under consideration in terms of his basic
characteristic, where weighting factors are usually applied in selection or decision
making process [8-11]. Mostly, the additive methods have a common way of
production, but some differences between them make great potential for manipulation
of a virtual model. Expert system support for additive manufacturing is based on the
series of rules which define the procedure for optimal selection of the production
parameters. Also, different measuring methods have been taken with the aim to control
surface quality. The case study results of this paper is verified by reverse engineering
process, where scanner converts the physical object into point cloud [12]. Reverse
engineering is modern technology which provides a lot of benefits and possibilities in
the CAD/CAM domain [13]. Some of them are including design reconstruction with
impacts on shape analysis and prototyping [14, 15], quality control and inspection on
certain parts [16], request for making clone of the original model [17], remanufacture of
1 PhD, Neboja Raovi, University of Mostar, Mostar, BiH, nebojsa.rasovic@sve-mo.ba (CA)

2 PhD, Adisa Vuina, University of Mostar, Mostar, BiH, adisa@sve-mo.ba
3 PhD, Milenko Obad, University of Mostar, Mostar, BiH, milenko.obad@sve-mo.ba
317
Neboja Raovi, Adisa Vuina, Milenko Obad
existing parts [18], and more. Very important fact about reverse engineering process is
based on effort to eliminate inaccuracy in the proposed scan algorithm [19].
2 THE EXPERT SYSTEM DEVELOPMENT

Selection of manufacturing parameters is one of the most important tasks
which a designer has to make in additive manufacturing process. In order to choose
the best for product, designer need to compare more solutions and alternatives, and
then make their assessment that is followed by certain constraints. Constraints are
enforced by end-use of a product, so that a designer is forced to operate always within
these constraints. Build orientation and layer thickness are imposed as the primary
parameters in process defining of additive manufacturing. In order to determine
properly, those parameters have to be analyzed in right direction. Certain number of
criteria include manufacturing time, surface roughness, process errors, geometrical
complexity, assembling, functional, ergonomic and aesthetic characteristics etc [20].
In terms of the expert system building, the first of all, it has developed a
structure of the basic variables that carriers of goals and recommendations for a tasks
implementation. The development environment is based on the Java platform. A
knowledge that is written in a knowledge base represents fundament of the expert
system. It has grouped into units that make a logical blocks. A logical blocks are
specific for a some data group. A production rules are used for a procedures execution
and locomotion. Variables and production rules are distributed over a logical blocks. In
expert system technology, each of the experts rule is a heuristic. The combination of
all the heuristics allows the overall decision making problem to be solved. The example
of basic IT/THEN production rule applied to accuracy of additive manufacturing, has
the following format:
IF:
The model surfaces need to be produced with high accuracy:
THEN:
Layer thickness has to be minimal.
Definition of a production rule is a simple syntax that is suitable for reading and
understanding of its meaning. IF condition is Boolean operator that checks truthfulness
or untruthfulness of the certain case. A rules are independent facts and there are no
explicit links between themselves. Manufacturing of a part carries a lot of number of
various factors that must be defined in development stage. These factors are defining
the overall expediency arising from a part value improvement. Relate to the previous
mentioned, it has been showed the expert system rule that provides this area of the
part improvement:
IF:
Select improvement direction: Value improvement guidelines
THEN:
Performance on aspects such as capacity, power, speed or accuracy.
Freedom from breakdown or malfunction;
performance under varying environmental conditions.
Secure, hazard-free operation.
Simple, infrequent or no maintenance requirements.
Except for disposable products, a long lifetime which
offers good value for the initial purchase price.
Little or no unpleasant or unwanted by-products, including noise and heat.
318
Expert system support in product design for additive technology and reversne engineering
Building of knowledge base is an important step of the expert system

development, besides it is necessary to achieve connection between knowledge base
and work prototype together. Also, an user interface must be created as structure of a
system. In that circumstances, it has provided a real contribution of a production rules.
The expert system work prototype is a program that interacts with experts or novices in
order to solve problems. The end user provides an interactive input by selecting one or
more answers from the list or by entering data directly. The built system is running as a
Java Applet, where it generates an HTML page with Applet tag. This process is
running by a local Web browser. Inference engine as the expert system brain checks a
control block in order to see actions taken by the end user. Logical blocks are used for
instruction implementing. The crucial moments in block executing are confidence
variables. A system collects the necessary information from users through static and
dynamic variables, and inference engine derives all confidence and collection
variables.
Testing of a system accuracy and efficiency is carried out on the steering
wheel. This model in interesting from design point of view (Figure 1). Process moves
through several testing stages:
Testing and evaluating knowledge base,
Testing action of the inference engine,
Testing interaction and ambiguity of an user interface,
A system validation.
Figure 1. Sketch of the steering wheel
Note that, fulfillment of design requirements is reflected through obligatory

tasks in terms of:
Technical model requirements (Function, Form, Fit, Manufacturing Design,
Assembling)
Aesthetic model requirements (Visualization)
Ergonomic model requirements (Ergonomic Design).
By detail analyze, there is no reason to divide model into specific zones in
order to define layer thickness. For this possibility, it is not necessary to include model
features, because layer thickness need to be uniform. So, model segmentation is not
319
necessary, but individual treatment of surfaces is available. Following the system

recommendations, model is viewed as integral object, where it is the most desirable to
identify and highlight areas important from functional point of view. Such surfaces with
a high degree of priority are reference to determine process parameters. Each of the
model surfaces can be potential candidate to define process. The steering wheel has
eleven candidate surfaces in total (Figure 2).
Figure 2. The surfaces as candidates to determine orientation
According to the presented rule (Figure 3), position control is achieved by

confidence value definition. As evident from the rule, confidence value 30.0 is relevant
mark for vertical orientation (Z axis direction), while confidence value 20.0 is not
enough to be main orientation and represent horizontal orientation (X axis direction).
All other marks in that diapason make a compromise between these two orientations
values. These values are results of individual treatment of a model surfaces. Also, a
system recommendations are related on the layer thickness with respect to required
production influential criteria. Graphical representation of the results is shown on
Figure 4.
Figure 3. The inference results analyze of geometrical complexity
320
Figure 4. Graphical representation of solutions
3 SYSTEM VALIDATION THROUGH APLICATION OF REVERSE ENGINEERING

Quality control is a key factor in a modern approach to the process of product
design. The ability to provide the geometry as it is actually designed, in its original
dimensions and apply it as such is a major challenge in modern engineering. Trying to
check the produced form, its fitting and finally its function, most designers apply
different measurement techniques. ATOS optical 3D scanning, based on the principle
of border projection proved to be accurate in providing dimensional information in
quality control and optimization and creating important measurement reports. Optical
scanner delivers geometric data from an existing physical object. The obtained
geometric data have been used to analyze the precision of surfaces on the model of
the steering wheel of operating temperature of electrical device (Figure 4), made by
recommendations of the expert system (Figure 3) by the method of 3D Print (Z450), by
company ZCorp. ATOS software calculates complete polygonal grid of high-resolution
area for the object by creating a smaller triangles in curved areas and larger triangles
in flat areas, without decreasing the accuracy of the grid (Figure 5). The system uses a
technique of the reference marking to merge data from different perspectives.
Figure 5. The scanning process of pieces that takes within the ATOS system
321
After the scanning is completed, the data supplied by the ATOS system is in
arbitrary global coordinate system. To perform the comparison of scanned physical
data and CAD original data, scanned data is converted into CAD data of coordinate
position.
For the implementation of a detailed analysis, the scanned data is entered into
the software GOM Inspect V7.5, where the alignment of compared models is done. For
aligning models option prealignment was use (Figure 6). With this type of alignment,
the system requires user first to define nominal point on the original CAD model, and
then to select the Actual point on the scanned model.
Based on the defined reference points, the system account the alignment for
the given coordinates and proposes possible orientation of alignment. In other words,
the prealignment aligns the scanned data (actual point) automatically according to the
original CAD data (nominal point), regardless of the starting positions.
Figure 6. Alignment of objects to be compared
Figure 6 shows the alignment of scanned pieces with the original CAD model. It
is immediately evident from the figure that the surfaces of the scanned pieces deviate
from the original surface, i.e. the deviation at this stage is more than obvious.
According to the analysis, it is concluded that the model made in the horizontal
orientation has more accurate geometry than the model made in vertical direction and
at this distinct degree has reduced the size of the stairs effect. In this way, the obtained
results actually confirm the recommendations of an expert system in order to achieve
high quality production of model surface, depending on the geometrical requirements.
The process of product design shall not be retained only on the issue of the accuracy
of the model, but may include an analysis of the material which is model made
322
from.The models presented in this paper are made from ZP 150 powder. This type of
powder is one of the best materials of company ZCorp., available for the use of
methods of 3D printing. It provides a significant improvement compared to the previous
types of powders, such as better visual impression, and of course the overall strength
of the model. Therefore, it is a high performance composite material that provides very
good performance for a model from which it is made.
4 CONCLUSION
Good design of planned product represents more than half of the successful
work done. Therefore, the goal is to design a product that is simple and economical to
produce. The literature states that the importance of the design process for the
production is riddled with the fact that about 70% of the cost of production is
determined by decisions made in the design process, while some 20% is determined
by decisions made in the production process. However, successful design does not
also guarantee an optimal design of a product. An important task of the design process
represents a way to simultaneously reduce the cost of production and enhance the
functionality and quality of product. Reducing the number of parts on the product is
certainly the best opportunity for reducing production costs, because fewer parts
means less wasted materials and time to develop.
Problems in the design can be reduced by using standard dimensions and
shapes, because their availability and distribution contributes to the easy fitting within
the functional structure. In general, the design process is a combination of a series of
stages, each stage comprising a set of guidelines and recommendations in order to
achieve a more optimal method of production, which ultimately improves the quality of
product. Construction of the three-dimensional object at any stage of the design is of
great importance especially for engineers and designers employed by the department
of product development. In this way it is allowed access to various types of analysis of
the model prototype, in order to ultimately conduct more effective engineering.
This way of work enables reducing the time required for product launching on
the market. Therefore, the focus is on improving the part function and its task
performing in assembly, but at the same time the visual impression and ergonomic
design are in focus too. According to the analysis, it is concluded that the model made
in the horizontal orientation has more accurate geometry than the model made in
vertical direction and at this distinct degree has reduced the size of the stairs effect. In
this way, the obtained results actually confirm the recommendations of an expert
system in order to achieve high quality production of model surface, depending on the
geometrical requirements. The process of product design shall not be retained only on
the issue of the accuracy of the model, but may include an analysis of the material
which is model made from. Marerials will be the subject of future research.
REFERENCES
[1] Pahl, G., Beitz, W., Feldhusen, J. & Grote, K.-H., (2007) Engineering Design: A
Systematic Approach: Springer.
[2] Ullman, D.G., (2010) The mechanical design process, Boston: McGraw-Hill
Higher Education.
[3] Cupar, A., Pogacar, V. & Stjepanovic, Z., (2015) Shape verification of fused
deposition modelling 3D prints. International journal of information and computer
science. 4: p. 1-8.
323
[4] Jin, G.Q., Li, W.D. & Gao, L., (2013) An adaptive process planning approach of
rapid prototyping and manufacturing. Robotics and Computer-Integrated
Manufacturing. 29(1): p. 23-38.
[5] Rianmora, S. & Koomsap, P., (2010) Recommended slicing positions for adaptive
direct slicing by image processing technique. The International Journal of
Advanced Manufacturing Technology. 46(9-12): p. 1021-1033.
[6] Luo, X. & Frank, M.C., (2010) A layer thickness algorithm for additive/subtractive
rapid pattern manufacturing. Rapid Prototyping Journal. 16(2): p. 100-115.
[7] Gibson, I., Rosen, D.W. & Stucker, B., (2010) Additive manufacturing
technologies; rapid prototyping to direct digital manufacturing, New York:
Springer.
[8] Raovi, N. & Obad, M., (2012) Adaptive slicing in 3D printing process.
Proceedings of The 7th International Symposium on Machine And Industrial
Design In Mechanical Engineering KOD 2012, Balatonfred, Hungary, Faculty of
Technical Sciences, Novi Sad, p. 243-246.
[9] Raovi, N., Kaljun, J., Obad, M., Novak, M. & Dolak, B., (2012) The CAD
models evaluation using weighting factors in order to optimize RPT process.
Proceedings of The 10th International Conference on Advanced Engineering,
Computer Aided Design and Manufacturing CADAM 2012, Vis, Croatia, Revelin,
Iii, p. 95-98.
[10] Raovi, N., Kaljun, J. & Obad, M., (2012) Intelligent decision support system for
adaptive slicing in RPT process. Annals of DAAAM for 2012 & Proceedings of
The 23rd International Symposium, Zadar, Croatia, DAAAM International Vienna,
p. 1095-1098.
[11] Raovi, N. & Obad, M., (2013) Layered Manufacturing Process Supported By
Expert System. Machine Design. 5(2): p. 93-98.
[12] Cekic, A., Rasovic, N., Obad, M., Kaljun, J., Dolsak, B. & Begic-Hajdarevic, D.,
(2016) Production of Optimized Layered Products using Intelligent Support.
Proceedings of the 26th DAAAM International Symposium, DAAAM International,
Vienna, Austria, pp. 0271-0279.
[13] Vinesh Raja & Fernandes, K.J., (2008) Reverse Engineering, Springer London.
[14] Wang, J., Gu, D., Yu, Z., Tan, C. & Zhou, L., (2012) A framework for 3D model
reconstruction in reverse engineering. Computers & Industrial Engineering. 63(4):
p. 1189-1200.
[15] Min, Z., (2011) A New Approach of Composite Surface Reconstruction Based on
Reverse Engineering. Procedia Engineering. 23: p. 594-599.
[16] Marciniec, A., Budzik, G., Dziubek, T. & Grzelka, M.a., (2012) Quality control and
inspection of bevel gears of the aircraft gearbox utilizing the Atos 3d Scanner.
Journal of KONES. Powertrain and Transport Journal of KONES. Powertrain and
Transport. 19(1): p. 261-266.
[17] Jiang, Q., Feng, X., Gong, Y., Song, L., Ran, S. & Cui, J., (2016) Reverse
modelling of natural rock joints using 3D scanning and 3D printing. Computers
and Geotechnics. 73: p. 210-220.
[18] Paulic, M., Irgolic, T., Balic, J., Cus, F., Cupar, A., Brajlih, T. & Drstvensek, I.,
(2014) Reverse Engineering of Parts with Optical Scanning and Additive
Manufacturing. Procedia Engineering. 69: p. 795-803.
[19] Kovcs, I., Vrady, T. & Salvi, P., (2015) Applying geometric constraints for
perfecting CAD models in reverse engineering. Graphical Models. 82: p. 44-57.
[20] Raovi, N., (2014) Intelligent decision support in design process of products to
be produced by layered manufacturing technologies. Ph.D. Thesis, University of
Mostar: Mostar, BiH.
324
_____________________________________________________________________________
CALCULATION OF THE BEARING MODIFIED RATING LIFE DURING

NEW BEARING DESIGN
Biljana Markovi1, Miodrag Divi2
Abstract: Bearings, as a mechanical elements that allow relative movement of rotating

parts while transferring loads between them, are primary in the most demanding
sectors of machine industry, as automotive and aerospace industry, and they are
required to have extremely high level of accuracy of manufacturing and meet the
requirements prescribed by international standards. Producers specialized in the
production of highly demanding types of bearings must prove eligibility criteria defined
in ISO 281:2007 and ISO/TS 16281/2008 specification. This paper deals with the
bearing testing results by manufacturer and research of the basic and modified rating
life of bearings, the winning of new types of bearings, in accordance with the relevant
specifications.
Key words: bearings, modified reference rating life, testing
1 INTRODUCTION
It is well known the role of bearings in the engineering industry, as well as
elements for rotary motion, which are represented in almost all types of machines
where rotation is the basic movement of the craft. Primarily used for supporting the
shaft, thereby allowing rotation of the sleeve relative to the fixed support, while the
transfer of appropriate load. Of course, the application is wider at the junctions with
straight and helical motion, for example threaded couple. Manufacture of bearings,
especially rolling, belongs to the standard way of mass production, defined by following
features of standard bearings, which can be found in any literature related to bearings
or marketing material of producers, in the case of standard types of bearings.
However, the production of special-purpose bearings or bearings of high
accuracy and hybrid types of bearings, which are primarily designed for the
automotive or aerospace industry is a particular challenge for manufacturers.
Therefore, now there is a relatively small bearing manufacturers with increase
accuracy in terms of ex Yugoslavia and beyond, who are engaged in this issue and it is
very difficult to achieve a higher level of knowledge and experience that is applicable in
conquering new types of bearings, which refers to, for example a reduced clearance in
1Prof. Dr, Biljana Markovi, Mainski fakultet, Istono Sarajevo, Republika Srpska, biljana46m@gmail.com,
2 DIpl. Ing. Miodrag Divi, ORAO a.d. za proizvodnju i remont, Bijeljina Republika Srpska,
miodrag.divcic@orao.aero
325
Biljana Markovi, Miodrag Divi
bearings, tolerance class 4 or resistance to high temperatures.

Original car or aircraft manufacturers forming separate companies for
production bearings exclusively for their needs, on a world scale, and their experience
and knowledge are hard to reach for small bearings producers or companies engaged
in maintenance, for example maintenance aircraft or aircraft engines. Moreover, in
such cases, it is evident the problem of changes in the application of certain types of
bearings, when the original manufacturer delivered only a notification (notice) about
change to company for maintenance or overhaul, without adequate explanation
concerning the reasons for the changes, especially if those relating to the bearing
capacity (load) or his rating time.
This paper presents the results of research in the process of conquering new
types of bearings for use in the aerospace industry, conditioned by international
standards for bearing testing BS ISO 281:2007, Rolling bearings- Dynamic load ratings
and rating life and DD ISO/TS 16281:2008, Rolling bearings - Methods for calculating
the modified reference rating life for universally loaded bearings.
2 SPECIFICATION FOR CALCULATION RATING LIFE OF ROLLING BEARINGS

The basic specification regarding rolling bearing is ISO 281:2007, which
specifies methods of calculating the basic dynamic load rating of rolling bearings within
the size ranges shown in the relevant ISO publications, manufactured from
contemporary, commonly used, high quality hardened bearing steel, in accordance
with good manufacturing practice and basically of conventional design in regard of the
shape of rolling contact surfaces.
This documents also specifies methods of calculating the basic rating life,
which is the life associated with 90% reliability, with commonly used high quality
material, good manufacturing quality and conventional operating conditions. In
addition, it specifies methods of calculating the modified rating life, in which various
reliabilities, lubrication conditions, contaminated lubricant and fatigue load of the
bearing are taken into account [1].
The basic rating life is given by the life equation:
Lh Cr / Pr

(1)
Cr is basic dynamic load rating

Pr is dynamic equivalent load
- can be 3 or 10/3, depend on bearing type
Detailed calculation is described in ISO 281: 2007, depending on bearing type
and and bearing combination (arrangement).
For many years the use of the basic rating life L10 as a criterion of bearing
performance has proved satisfactory. However, for many applications it has become
desirable to calculate the life for a different level of reliability and/or for a more accurate
life calculation under specified lubrication and contamination conditions. With modern
high quality bearing steel, it has been found that, under favorable operating conditions
and below Hertzian rolling element contact stress, very long bearing lives, compared
with the L10 life, can be obtained if the fatigue limit of the bearing steel is not exceeded
On the other hand, bearing lives shorter than the L10 can be obtained under
unfavorable operating conditions. A system approach to the fatigue life calculation has
been used in this specification and this paper. That means, the influence on the life of
the system due to a variation and interaction of interdependent factors is considered by
326
Calculation of the bearing modified rating life during new bearing design
referring all influence to the additional stress they give rise to in the rolling element
contacts and under the contact regions [1].
A life modification factor, a ISO is introduced, based on a system approach of
life calculation, together with modification factor a1, in this specification. These factors
are applied in the modified rating life equation:
Lnm = a1 aISO L10 (2)
These factors are described in the specification in details. This document does
not cover the influence of wear, corrosion and electrical erosion on bearing life.
ISO/TS 16281:2008 is specification which describes methods for calculating
the modified reference rating life for universally loaded bearings. This specification
taking into consideration lubrication, contamination and fatigue load limit of bearing
material, as well as tilting of misalignment, operating clearance of the bearing and
internal load distribution on rolling elements. The calculation method provided in this
specification covers influencing parameters additional to those described in ISO 281.
It is very important to mention here: this TS (technical specification) is primarily
intended to be used for computer programs and together with ISO 281 covers the
information needed for life calculation. For accurate life calculation under the operating
conditions which has been specified in this specification, it is recommended that either
this TS or advanced computer calculation provided by bearing manufacturers, for
determining the dynamic equivalent reference load under different loading conditions,
to be used [2].
A system approach of the fatigue life calculation is therefore appropriate, as
long as the influence on the life of the system from variation and interaction of
interdependent factor will be considered. For example, the life modification factor also
can be expressed as a function of u/, the fatigue stress limit divided by the real
stress with as many influencing factors as possible considered.
aISO = f u / (3)
But, this ratio can then (in accordance with ISO 76) be sufficiently
approximated by the ratio Cu /P, fatigue load limit divided by dynamic equivalent load
and the life modification factor can be expressed as
aISO = f Cu / P (4)
In the calculation of Cu the following influences have to be considered:

The type, size and internal geometry of the bearing,
The profile of rolling elements and raceway
The manufacturing quality
The fatigue limit of raceway material
That means, qualified bearing manufacturers can use both of these
specifications, together with chosen computer program (as MESYS) for calculating
bearing life, under specific testing (load) conditions, defined and provided by
manufacturer. Also, modern technology makes possible to determine a ISO by
combining computer supported theory with empirical test and practice experience.
327
Besides bearing type, fatigue load and bearing load, the factor a ISO considers
influence of:
Lubrication (type of lubrication, viscosity, bearing speed, bearing size,
additives)
Environment ( contamination level, seals)
Contaminant particles (hardness and particle size in relation to bearing size,
lubrication method, filtration)
Mounting (cleanliness during mounting)
That means, modification factor aISO can be derived from the following equation:
aISO = f ec cu / P, (5)
ec is contamination factor , is viscosity ratio

Simplifying theory regarding rating bearing life which is commonly used for
describing and calculating L10 is not enough for bearing manufacturer and it can
provide wrong calculating results, during first step of bearing design and adopting.
2.1. Technical acceptance conditions for testing deep groove ball bearing with
solid brass cage
In this paper, production and testing of Rolling bearings signed with PLC 04-
200, single-row ball bearing with massive brass cage, has been used as a main
example for calculating rating life. Bearings provide rotation fit of parts of engine based
of principle of rolling friction inside the bearings.
Basic characteristics of material used for bearing production are remelted
quality bearing steel with designation 100Cr6 in accordance with ISO 683-17.Technical
parameters of cage are not important for this paper.
Main bearing dimensions and tolerances are part of construction drawing,
created by customer (aviation industry). Main parameters of assembled bearing are
part of customer requirements, based on specific usage of bearings (specific working
conditions and function).
Table 1. Hardness of components and heat stabilization, load rating and working
speed of bearings
Load rating
Rolling Working
Ring dynamical statical
Bearing elements Heat speed
hardness Cr Cor
designation hardness stabilization RPM
[HRc] [kN] [kN]
[HRc] [min-1]
ISO281 SO 76
PLC 04-200 6165 6165 n/a 9,04 5,53 4 000
n/a-bearing can be used up to 120C operation environment
Table 2. Testing parameters for test certificate

Bearing dimensions Radial play Axial Play Acceptable Residual
designation [mm] [mm] vibration magnetism
PLC 04-200 dmp , Dmp Yes Yes Yes Yes
328
Predominant test is testing of bearings in engine. Range of the tests is

prescribed by a costumer. Testing of bearings on testing device of producer are
performed based on quality management system testing plan in accordance to
customers order.
Validation tests for standard test of achieving 100% basic dynamical capacity
(basic dynamical load rating C based from ISO 281) for each type are provided by
manufacturer in range 4-8 pieces selected by a costumer from first batch.
Medium for vibration testing was FAMKORTIL 235 viscosity 40 mm2/sec on
40C.
3. TESTING FACILITY
The testing was performed according to bearing test regulations for the
manufacturer company, in own test facility. The purpose of the test performed is to
verify the function of the bearing design using the test for basic dynamic load capacity
(BDLC) of bearings in the manufacturer testing facility.
Figure 1. Testing facility station scheme
Table 3. Testing parameters

Parameter Indication Value Unit
Radial Load Fr 1700 N
Axial Load Fa 0 N
Equivalent Load Pr 3,4 bar
Testing ratio 5,3
Boundary rotational
Cr/Fr 4000 min -1
frequency
Test speed nk 4800 min -1
Test speed ratio nsk 0,8
Calculated resistance % Lh 522,1 hrs
329
Figure 2. Testing facility station
To perform the official test under manufacturer Operating procedure, a testing

batch of 25 pieces of identical bearings is required, necessary to verify the quality of
bearings collected in random selection from production batch. On trial, pcs of bearings
PLC 04-200 were delivered by the manufacturer, it is thus a nonstandard testing within
the operating procedure and the above mentioned, the test was performed under
manufacturer's requirements and decisions stated in the test specification. The test
was performed in two testing station (one test station picture 2.) of testing facility in the
operating mode of the working week of continues operation , i.e. 24 hours a day, from
the beginning of the working week to the end of the working week. On days off, the
testing facility was not in operation due to insufficient protection system of its operation.
4. BEARING TESTING
During the bearing testing, the previously described test bench created by the
manufacturer, it was established way of determining the service life of the bearing, by
defining Cs% - dynamic load capacity, displayed in%. Cs represents the ratio of
dynamic load capacity achieved during the test (tests on the test bench) and the
catalogue value of the dynamic load capacity for the type of bearing:
Cs % = CS / C R 100% (6)
When the first group of test bearings of the same type, under defined
conditions of testing, 8 bearing from each type, 4 bearing on each shaft (picture 1, 2),
which are defined and adopted by the manufacturer, is being tested, the method used
to calculate the lifetime for terms bearings defined in ISO 281: 2007 specification.
Thus obtained values are compared with the catalogue values for a given type
of bearing, and the calculated value of dynamic load capacity Cs.
In this way, the calculated values do not reach 100% capacity, which according
to the manufacturer's recommendations are not permitted in the conquest of new types
of bearings (Table 4).
Table 4. Load capacity test

P/N Cr (Kn) Calculated L10 (hrs) RPM Achieved Cr
PLC 04- 200 10,12 732,5 4000 91,2
330
Then team (manufacturer and customer participants) analyzed the possible

reasons for the appearance of non-conforming bearings, according to the defined
acceptance criteria (min. 100% Cs).
Non-conforming bearings were analyzed in two ways:
Bearing side (material, heat treatment, noise level, produced geometrical
parameters)
Test side (proper loads, RPM, assembly, oil quality)
Also, detailed results analysis are going deeply under bearing side: sample
bearing analysis, input control protocol, heat treatment protocol. After that analysis,
using theoretical and experimental knowledge, possible failure causes are:
initial micro - structure before heat treatment
hardness over 65 HRc own heat treatment
failure of inner ring-wrong assembly on the test shaft
Results of analysis gave next results: Input material (annealing state)
reanalysis in manufacturer place gave negative result, no places found with larger
cementite particles in original raw material sample. Regarding to heat treatment
hardness was measured under raceway and it increased by deformation
reinforcement. Analysis of test side, especially proper loads (load equipment revision),
RPM, assembly (bearing assembly plan) and oil quality (check) gave next feedback:
Wrong mode assembly on the shaft was rejected. Primary cause of this is rotation
connected with pitting on inner ring, which causes rotation move of inner ring and
failure on the bore surface.
In the and of previous analysis, results had to give answer on question:
1. Why bearing did not reach 100% capacity, where is the problem?
The main answer was: load rating calculation and test calculation.
P/N IR OR R
PLC 04-200 52-52,6% 52-52,6% 3,12 +0,04
Figure 3. Geometrical parameters of PLC 04-200
Using available information and specifications relating to the subject of the

research, it was found that there is a difference in the preferred mode for calculating
dynamic load, between the recommendations from specification ISO 281: 2007, which
had previously been used, and specification ISO / TS 16281: 2008. It was found that
ISO 281 calculation is valid for nominal values and use for initial calculation.
After recalculation of dynamic load capacity, based on specification ISO/TS
16281, used software MESYS, calculated rating life is given in next tables 5 and 6.
Table 5. Load capacity recalculation

P/N Cr new (kN) Calculated L10 (hrs) Cr old Calculated L10
(kN) (hrs) old
PLC 04- 200 9,04 522,1 10,12 732,5
331
Table 6. Test results after recalculation

P/N Cr new Calculated L10 Achieved Achieved
(kN) (hrs) Cr % Cr old %
PLC 04- 200 9,04 522,1 102,1 91,2
5. CONCLUSIONS
This paper presents the results of tests in the conquest of new types of
bearings for industry (aviation use). The characteristics of testing facility, the basic
parameters of the tests and the method of bearing testing, according to the
manufacturer's recommendations and in accordance with applicable ISO specifications
are the basis of this paper.
The main emphasis is put on research of the causes of failing recommended
dynamic load bearing capacity (Cs%), while testing bearings on test bench, all in
accordance with the requirements of ISO 281: 2007 specification. Research of
potential cause of the fault (nonconformity) has been made by the team, in
collaboration of manufacturer and the customer participants, and causes that were
used for analysis are shown.
At the end of the set of testings that is required to use the technical
specification ISO/TS 16281: 2008, which is supplement of the ISO 281: 2007 and gives
recommendations for the calculation of the modified rating life, though use of
appropriate software package. All possible known causes of nonconforming due to
material, heat treatment and test condition were investigated and rejected.
Finally, team found that difference between standard ISO 281 calculation and
adjusted calculation according to ISO/TR 1281 and ISO/TS 16281 gives approx 10%
difference for dynamic load rating. Test results after recalculation shows that load
capacity of the nonconforming bearings is fulfilled.
These results show that all applicable specifications and technical design
specifications, which are related to the production and testing bearing in demanding
industries that differ from the standard use, due to the specific conditions of use and
function, have to be strictly respected. Also, the causes of the possible occurrence of
nonconforming bearing need to be investigated from different aspects in detail, using
the available experience and knowledge (usage of best practice), within teamwork. It is
very important for the specific bearing usage, especially in aircraft industry.
LITERATURA
[1] BS ISO 281: 2007, Rolling bearings - Dynamic load ratings and rating life;
[2] ISO/TS 16281:2008, Rolling bearings- Methods for calculating the modified
reference rating life for universally loaded bearings;
[3] ISO/TR 1281-1, Technical report, Rolling bearings - Explanatory notes on ISO 281
[4] Technical-acceptance conditions for rolling bearings, Test reports for rolling
bearings, Kinex bearings, Byta, Slovakia
[5] Miltenovi, V.; Mainski elementi, oblici, proraun, primena, VII izdanje, 2009,
Univerzitet u Niu
332
_____________________________________________________________________________
PONAANJE ZAVARENOG SPOJA LEGURE ALUMINIJUMA 2024

T351 OSTVARENOG ZAVARIVANJEM TRENJEM SA MEANJEM
PRI UDARNOM LOMU
Miodrag Mili1, Toma Vuherer2, Janez Kramberger3, Dragan Mili4, Boban
Anelkovi5
Rezime: Lake zavarene konstrukcije od legura aluminijuma nalaze iroku primenu u

automobilskoj i vazduhoplovnoj industriji. Zavarivanje trenjem sa meanjem, koji
predstavlja relativno nov nain zavarivanja, ubrzano nalazi svoju sve iru primenu pri
zavarivanju, posebno, legura aluminijuma. Ovaj proces se obavlja u vrstom stanju, te
je stoga pogodan za zavarivanje kako istorodnih, tako i razliitih tipova materijala. Pri
tome se dobijaju odline mehanike karakteristike zavarenog spoja. U radu je prikazan
deo rezultata istraivanja ponaanja zavarenih spojeva ostvareni zavarivanjem trenjem
sa meanjem legure aluminijuma 2024 T351 u uslovima dinamikog optereenja.
Kljune rijei: legura aluminijuma 2024 T351, ponaanje zavarenog spoja, zavarivanje
trenjem sa meanjem.
IMPACT FRACTURE BEHAVIOUR OF 2024T351 ALUMINIUM ALLOY SHEETS

JOINED BY FRICTION STIR WELDING
Abstract: Lake welded constructions from aluminum alloys are widely used in the
automotive and aerospace industry. Friction stir welding, which is a relatively new way
of welding, rapidly finds its increasing application in welding, special alloys. This
process is carried out in the solid state, and is therefore suitable for welding as
homogeneous as well as different types of materials. This gives excellent mechanical
characteristics of the welded joint. The paper gives the results of research behavior of
welded joints of Friction stir welding of aluminum alloy 2024 T351 in terms of dynamic
loads.
Key words: AA 2024 T351, Friction stir welding, Impact fracture behaviour
1
MSc, Miodrag Mili, Mainski fakultet Univerziteta u Niu, Ni, Srbija, milcic.miodrag@gmail.com
2
Docent dr, Toma Vuherer, University of Maribor, Faculty of Mechanical Engineering, Maribor, Slovenia,
tomaz.vuherer@um.si
3
Docent dr, Janez Kramberger, University of Maribor, Faculty of Mechanical Engineering, Maribor, Slovenia,
janez.kramberger@um.si
4
Prof. dr, Dragan Mili, Mainski fakultet Univerziteta u Niu, Ni, Srbija, milcic@masfak.ni.ac.rs
5
Prof. dr, Boban Anelkovi, Mainski fakultet Univerziteta u Niu, Ni, Srbija, bandjel@masfak.ni.ac.rs
333
Miodrag Mili, Toma Vuherer, Janez Kramberger, Dragan Mili, Boban Anelkovi
1 UVOD
Legure aluminijuma su nale iroku primenu i u automobilskoj i vazduhoplovnoj
industriji. Obe industrije pomeraju granice novih inovativnih proizvoda, zahtevom za
veom nosivou i ujedno manjom masom uz robustan dizajn. Legure aluminijuma
karakterie visoka nosivost u odnosu na nivo mase po relativno niskoj ceni. U cilju
poboljanja karakteristika aluminijuma koriste se legure aluminijuma, koji se dobijaju
legiranjem istog aluminijuma sa sledeim elementima: bakrom, cinkom,
magnezijumom, silicijumom, manganom i litijumom. Kod legura aluminijuma sa bakrom
(serija 2 8), bakar je glavni legirajui element u ovoj familiji ije mehanike vrednosti
dostiu one kod mekih elika. Inae, familija je poznata po popularnom i
tradicionalnom nazivu - durali. Upotrebljava se najee za radne - nosive delove.
Nema dobra antikorozivna svojstva i po pravilu se loe zavaruju klasinim postupcima
zavarivanja. Kako su legure aluminijuma serije 2 teko zavarive klasinim metodama
zavarivanja, to se za njihovo zavarivanje koristi postupak zavarivanja trenjem sa
meanjem.
Potpuna karakterizacija zavarenih spojeva sa aspekta eksploatacijskih
svojstava, podrazumeva i sagledavanje njihovog ponaanja u prisustvu greaka, tj.
ocenu njihove otpornosti prema iniciranju i razvoju prsline. Mehanika loma se bavi
izuavanjem fenomena loma, istraivanjem uslova razvoja prsline i otpornosti
materijala u zavrnoj fazi procesa deformisanja usled delovanja optereenja.
Mehanika loma je definisala parametre i uvela nove metode ispitivanja, a sve u
cilju da se to bolje odredi sklonost ka razvoju prslina, kritinih uslova brzog razvoja
loma, otpornosti materijala ka brzoj propagaciji prsline ili drugim reima da se oceni
ponaanje materijala i sigurnost konstrukcije u prisustvu prslina ili drugih srodnih
greaka.
Sigurnost zavarenih spojeva lakih zavarenih konstrukcija pri delovanju
promenljivog optereenja je u dananje vreme dominantna tema svih ozbiljnijih
istraivaa u ovoj oblasti ispitivanja. Deo istraivanja koja se sprovode na Mainskom
fakultetu Univerziteta u Niu u okviru ove teme su usmerena na analizu uticaja
promenljivog optereenja na ponaanje zavarenog spoja ostvarenog zavarivanjem
trenjem sa meanjem legure aluminijuma 2024 T351, u prisustvu greke tipa prsline,
odnosno odreivanje parametara rasta zamorne prsline.
Tabela 1. Hemijski sastav legure aluminijuma 2024 T351
Hemijski sastav Cu Mg Mn Fe Si Zn Ti Al
% 4,70 1,56 0,65 0,17 0,046 0,11 0,032 ostatak
Tabela 2. Mehanike karakteristike legure aluminijuma 2024-T351
Granica teenja Zatezna vrstoa Elongacija Tvrdoa, Vickers

N N
Reh , Rm , A5, % HV
mm 2 mm 2
370 481 17.9 137
334
Ponaanje zavarenog spoja legure aluminijuma 2024 T351 ostvarenog zavarivanjem trenjem sa
meanjem pri udarnom
2 EKSPERIMENT ZAVARIVANJA TRENJEM SA MEANJEM LEGURE

ALUMINIJUMA 2024
Postupak zavarivanja trenjem sa meanjem (ZTM, eng. Friction Stir Welding -
FSW) je nastao kao rezultat istraivanja vrenih u cilju iznalaenja novih reenja pri
zavarivanju aluminijumskih legura, kako bi se izbegli problemi koji se javljaju pri
konvencionalnim procesima zavarivanja (lokalno zagrevanje materijala do i preko
take topljenja, pri emu se u znaajnoj meri smanjuju mehanika svojstva materijala).
Princip dobijanja nerazdvojivih spojeva pri zavarivanju trenjem sa meanjem
(Slika 1) se vri usled kontakta alata i osnovnog metala i generisanja toplote na
kontaktu ela nosaa alata i osnovnog metala, to olakava deformisanje osnovnog
metala i njegovo meanje u zoni klina alata.
Slika 1. Zavarivanje trenjem sa meanjem 1-osnovni matal, 2-smer okretanja alata (u

smeru kazaljke na satu), 3-alat za zavarivanje, 4-sputanje alata, 5-rame alata, 6-klin
(trn), 7 strana napredovanja zavara, 8-aksijalna sila, 9-smer zavarivanja, 10-
podizanje alata, 11-izlazni otvor, 12-povratna strana zavara, 13-lice ava.
Eksperimentalno su zavarivane ploe dimenzija 260 mmx65 mmx6 mm. Obe

strane ploa koje se zavaruju su obraene na brusilici na debljinu 6 mm. Prilikom
zavarivanja ispod dela koji se zavaruje u kontaktu je bila podlona ploa od
austenitnog elika. Za zavarivanje je koriena maina glodalica. Duina zavara je bila
priblino 210 mm.
Na slici 2 je prikazan alat korien u postupku zavarivanja trenjem sa
meanjem.
335
Slika 2. Alat za zavarivanje
Optimalna temperatura ZTM je priblino 0.8 temperature topljenja. Upravo ova

injenica uzrokuje pogodnost za zavarivanje teko zavarljivih legura i raznorodnih
materijala. Primera radi, ZTM je pokazalo znaajne prednosti nad TIG (zavarivanje
netopljivom elektrodom u zatiti inertnog gasa) postupkom pri zavarivanju talono
ojaanih legura 7XXX i 2XXX (Al-Zn-Mg i Al-Cu) 8, kog kojih topljenje uzrokuje
raspad i rastvaranje taloga i samim tim drastian pad mehanikih karakteristika usled
zamene taloga livenom strukturom karakteristinom za zavarene spojeve dobijene
topljenjem. Prilikom ovog zavarivanja ne nastaju uobiajene greke koje su
karakteristine za proces zavarivanja topljenjem. Na slici 3 prikazani su zavareni uzorci
legure aluminijum 2024 T351 ostvareni trenjem sa meanjem.
Slika 3. Zavareni spojevi legure aluminijuma 2024 ostvareni trenjem sa meanjem sa

razliitim parametrima zavarivanja
Zavareni spoj kao kompleksna i heterogena struktura predstavlja kritino mesto

u zavarenoj konstrukciji. Zbog toga u najveem broju sluajeva, sigurnost zavarene
konstrukcije se procenjuje na osnovu osobina zavarenog spoja kao celine, i osobina
336
meanjem pri udarnom
svih njegovih sastavnih delova. Najee se za ocenu ponaanja zavarenog spoja

porede osobine osnovnog metala, zone uticaja toplote i metala ava, ali se u brojnim
sluajevima ponaanje zavarenog spoja kao celine razlikuje od ponaanja metala
ava, zone uticaja toplote i osnovnog metala.
Promenu osobina osnovnog materijala u procesu zavarivanja trenjem sa
meanjem izazivaju sledei faktori: maksimalno dostignuta temperature (posledica
toplote indukovane trenjem tokom zavarivanja), brzina hlaenja, dejstvo pritisne sile i
teenje materijala usled mehanikog meanja.
Upravo ove pojave, propraene promenom osobina osnovnog metala, uzrokuju
postojanje nekoliko zona u zavarenom spoju razliitih po svojoj strukturi i osobinama
(slika 4):
Osnovni metal (OM) - ova zona nije izloena dejstvu mehanikog
optereenja i temperature, jer je na dovoljno velikoj udaljenosti od zavara.
Samim tako nema promena u mikrostrukturi i mehanikim osobinama i one
odgovaraju svom polaznom stanju;
Zona uticaja toplote (ZUT) - je deo osnovnog metala blizu zavara, koji je
izloen dejstvu poviene temperature, ali ne i dejstvu mehanikog
optereenja. Tokom procesa zavarivanja u ovoj zoni se odvija odreeni
temperaturni ciklus zagrevanja i hlaenja, usled ega dolazi do promena u
mikrostrukturi i mehanikim osobinama. Veliina ove zone zavisi od odnosa
vremena i temperature zavarivanja, kao i od rastojanja od ose zavara.
Zona termo-mehanikog uticaja (ZTMU) - je deo osnovnog metala koji se
nalazi neposredno ispod alata. Istovremeno je izloen dejstvu mehanikog
optereenja i povienoj temperaturi, to ima za posledicu pojavu znaajnih
promena u mikrostrukturi, a samim tim i u mehanikim karakteristikama
materijala.
Slika 4. Popreni presek FSW zavarenog spoja [2] (A) osnovni metal - OM, (B) zona uticaja
toplote ZUT; (C) zona termomehanikog uticaja ZTMU; (D) grumen
Kod aluminijumskih legura, unutar ZTMU mogue je uoiti tri oblasti:

1. Najizraenija je rekristalizovana oblast, tzv. grumen, koja je usled dejstva
mehanikog optereenja znatno deformisana.
2. Levo i desno od grumena nalazi se oblast koja je deformisana u manjoj meri
u odnosu na grumen. U ovoj oblasti moe ali i ne mora doi do rekristalizacije zrna, u
zavisnosti od vrste legure.
3. Trea oblast (tzv. rukavac) se nalazi iznad grumena. Nastaje tokom prolaza
ivice valjka sa povratne strane preko prethodno formiranog grumena.
Dimenzije gore navedenih zona zavise od vie faktora: vrste zavarivanog
materijala, oblika i dimenzija komponente koje se zavaruje, veliine alata za
zavarivanje, parametara zavarivanja - brzine kojom rotira i kojom se pomera alat.
U zavarenim spojevima veoma esto je prisustvo greaka-prslina, iji dalji rast,
usled dugotrajnog dejstva periodino promenljivih optereenja, moe dovesti do
deliminog ili totalnog gubitka nosivosti konstrukcije. Ta pojava naziva se zamaranje, a
tako izazvan prelom - prelom usled zamora.
Kao osnovu za dimenzionisanje delova izloenih promenljivim optereenjima
337
potrebno je odrediti dinamiku izdrljivost, tj. najvei napon koji materijal moe izdrati
bez loma i pri neogranienom broju promena optereenja. Ispitivanje zamaranjem
prua mogunost za njeno odreivanje.
3 ISPITIVANJE SAVIJANJEM UDARNIM DEJSTVOM SILE NA EPRUVETAMA SA

ZAREZOM
Veliki broj delova maina i konstrukcija izloen je u toku rada udarnim
naprezanjima. Karakteristike osnovnog metala, a posebno zavarenog spoja, pri
udarnim optereenjima razlikuju se od karakteristika dobijenih statikim dejstvom sile;
stoga je razumljiva potreba za njihovim odreivanjem.
Ispitivanje savijanjem udarnim dejstvom sile na epruvetama sa zarezom moe
da prui i objanjenje o ponaanju materijala pri ometanom deformisanju, tj. pri
prostornom naponskom stanju. Odreivanje rada potrebnog za lom pod utvrenim
uslovima ispitivanja najee slui za tekuu kontrolu kvaliteta i homogenosti
materijala, kao i njegove obrade. Ovim postupkom ispitivanja moe se utvrditi sklonost
ka krtom lomu, odnosno sklonost ka poveanju krtosti u toku eksploatacije (starenje).
Za ispitivanje savijanjem pri udarnom dejstvu sile na epruvetama sa zarezom postoji
nekoliko postupaka: arpi, Izo, Gijeri, nat. Uslovi ispitivanja, kao i oblik i dimenzije
epruveta kod navedenih postupaka se razlikuju, te se rezultati ispitivanja dobijeni
razliitim postupcima ne mogu uporeivati.
Za odreivanje ukupne energije udara najpoznatija je metoda po arpiju. Ova
metoda je propisana standardom SRPS EN ISO 148-1 i SRPS EN ISO 148-2 iz 2011.
Epruvete za ispitivanje moraju biti u skladu sa ovim standardom i u pogledu uzimanja
epruveta i temperature ispitivanja. Zarez se po pravilu izrauje glodanjem tako da pri
obradi ne doe do promene stanja materijala. U podnoju zareza ne sme da bude
vidljivih tragova mainske obrade. Prema standardu SRPS EN ISO 148-1 su navedeni
i ostali podaci potrebni za ispitivanje metodom po arpiju. Pored debljine epruvete od
10 mm, koja se naziva standardna, doputa se i ispitivanja tzv. standardnih uskih
epruveta, debljine 7.5 ili 5 mm.
Na slici 4 prikazane su pripremljene epruvete za ispitivanje udarnim dejstvom
sile, izvuene iz zavarenih uzoraka legure aluminijuma 2024 T351 ostvarenih trenjem
sa meanjem, sa zarezom u razliitim zonama zavarenog spoja, a u tabeli 1 dati su
podaci o geometriji ispitivanih epruveta.
Slika 4. Pripremljene epruvete za ispitivanje udarnim dejstvom sile
338
meanjem pri udarnom
Tabela 1. Podaci o geometriji epruvete za ispitivanje udarnim dejstvom sile

Duina epruvete, mm 55
irina epruvete, mm 5
Visina epruvete, mm 10
Visina noseeg preseka, mm 8
Povrina noseeg preseka, mm2 40
R-zarez, mm 0.25
Ugao, 45
Raspon izmeu oslonaca, mm 40
Pri ispitivanju savojnim udarnim optereenjem energija loma odreuje se kao
integralna veliina. Tako odreena energija loma ne daje mogunost razdvajanja
otpornosti materijala prema stvaranju, odnosno irenju prsline. Da bi se to postiglo
udarna sila i vreme treba da budu kontinualno zapisivani tokom ispitivanja, to je
mogue izvesti instrumentiranjem klatna. SRPS EN 10045-1 odnosno ASTM E23-02 je
korieni standard za ovo ispitivanje uraeno u VTI, na instrumentiranom klatnu sa
osciloskopom Schenck Trebel, energije 150-300 J.
Deo rezultata ispitivanje udarnim optereenjem na instrumentiranom klatnu je
dat na slici 5 i u tabeli 2.
Slika 5. Rezultati ispitivanja udarnim dejstvom sile (zarez u zoni osnovnog metala)
339
Tabela 2. Rezultati ispitivanja udarnim dejstvom sile

Energija udara: 7.8 J Tip dijagrama: F
Udarna ilavost: 19.5 J/cm2 Ostali podaci:
Ei: 3.02 J Re: 80.7 MPa
Ep: 4.78 J Rm: 91.61 MPa
Koeficient f: 15554.54 N/V Procenat ilavog loma: 100 %
4 ZAKLJUCI
Legure aluminijuma su nale iroku primenu i u automobilskoj i vazduhoplovnoj
industriji. Obe industrije pomeraju granice novih inovativnih proizvoda, zahtevom za
veom nosivou i ujedno manjom masom uz robustan dizajn. U cilju odreivanja
uticaja parametara zavarivanja (odnos brzine rotacije alata i brzine zavarivanja
translacije) na dinamiku izdrljivost zavarenih spojeva, dobijenih zavarivanjem ploa
postupkom zavarivanja trenjem sa meanjem na leguri Al 2024-T351, varirani su
parametri zavarivanja. Primenom standardnih ispitivanja mehaniko-tehnolokih
osobina zavarenih spojeva omoguena je ocene kvaliteta zavarenih spojeva. U radu je
dat deo ispitivanja koji se odnosi na ispitivanje udarnim dejstvom sile. Za ispitivanje je
korieno instrumentirano klatno u analizi ukupne energije udara i komponenti ukupne
energije udara.
LITERATURA
[1] Abdasalam, M., M., E., Tadi, S., Sedmak, A. (2013) Impact fracture response of
friction stir welded Al-Mg alloy, Integritet I vek konstrukcija, Vol. 13, No. 3, p. 171-
177.
[2] Burzi, Z., (2002) Savremene metode provere mehaniko-tehnolokih osobina
zavarenih spojeva Deo 1, Zavarivanje i zavarene konstrukcije (2/2002), Str. 67-
74.
[3] Radisavljevi, I., Radovi, N., ivkovi, A., (2010) Influence of Process Parameters
on Quality of FSW Welded Plates, 4th International Conference Processing and
Structure of Materials, Pali, 2729 Ma, 2010, Proceedings, p. 117-123, ISBN
978-86-87183-17-9
[4] Mijajlovi, M., ivkovi, A., Mili, D., Radisavljevi, I., (2010) Uticaj parametara
FSW postupka zavarivanja na kvalitet zavarenog spoja aluminijumske legure 5052,
26. savetovanje sa meunarodnim ueem ZAVARIVANJE 2010, Tara, 2 4
Jun, CD.
[5] Mijajlovi, M., Mili, D., (2012) Analytical Model for Estimating the Amount of Heat
Generated During Friction Stir Welding: Application on Plates Made of Aluminium
Alloy 2024 T351 Welding Processes, Radovan Kovacevic (Ed.), InTech, DOI:
10.5772/53563.
[6] Mijajlovi, M., Pavlovi, T., N., Jovanovi, S., Jovanovi, D., Mili, M.,(2012)
Experimental studies of parameters affecting the heat generation in friction stir
welding process, Thermal Science, Vol. 16, Issue Supplement 2, p. 351-362.
[7] Mili, D., Mijajlovi, M., Mili, M., (2012) Eksperimentalna istraivanja zavarivanja
trenjem sa meanjem na leguri aluminijuma 2024 T351, Zbornik radova
Dvadesetsedmog savetovanja sa meunarodnim ueem "ZAVARIVANJE 2012"
i "IBR 2012" Divibare, Srbija, Oktobar 9-12, 2012, CD.
[8] SRPS EN 573-1, Aluminium and aluminium alloys - Chemical composition and form
of wrought products - Part 1: Numerical designation system.
340
_____________________________________________________________________________
CASE STUDY ON CAE TOOLS: OPTIMIZATION OF A 6-AXIS

ROBOTIC ARM FOR MAG WELDING
Daniel Miler1, Dragan eelj2, Igor Lonarek3
Abstract: The design and optimization process of a 6-axis robotic arm for MAG welding
is presented, with focus on the arm frame design. Different software tools are
compared using the verification models for three types of analyses dynamic, finite
element static stress and fatigue stress analysis. After the appropriate tool was chosen
for the task, simplified robotic arm models are made using the market analysis data.
Dynamic analysis was conducted on said models and obtained results are used to
dimension the initial model; which was then evaluated using the static stress and
fatigue stress analysis. Process itself was iterative and above mentioned steps were
repeated until the satisfactory results were achieved. Main advantage of this approach
is the use of only one software interface and, since the focus is on the optimization,
more energy efficient product.
Key words: Design, Fatigue stress, FEA, Optimization, Software verification
1 INTRODUCTION
With the development of industry, the need of productivity, reliability and the
profitability also grew. Since man has limited motoric abilities, the need for productivity
inspired new ideas. Solution was offered in 1954, when the first programmable
industrial robotic arm patent was filed by Devol [1], indicating a change.
Today, serial industrial production is hard to imagine without the use of robots.
Their tasks range from simple to the most complex ones. According to [2], one of the
most dependent industry branches is the automotive industry; which accounted for
almost 60% of the installed units in 2011. The surge in number of units sold causes
product prices to fall and both the profitability and environment concerns to increase,
which caused new design approaches to emerge. Environment and cost-effectiveness
concerns largely inspired both the Design for Environment [3] and Design for Energy
Minimization [4], new approaches that are growing in popularity. To keep both cost and
environment impact low, early phases of the design process, where 90% of the cost
and impact is generated [3, 5], should be addressed with special care.
1 MSc, Daniel Miler, University of Zagreb, Zagreb, Croatia, daniel.miler@fsb.hr

2 PhD, Dragan eelj, University of Zagreb, Zagreb, Croatia, dragan.zezelj@fsb.hr
3 MSc, Igor Lonarek, We-kr Ltd., Oberhausen, Germany, igor.loncarek@we-kr.com
341
Daniel Miler, Dragan eelj, Igor Lonarek
In compliance with the above stated facts, the use of optimization tools on the
design of a 6-axis robotic arm is presented, with the focus on the arm frame (detailing
phase is omitted). Furthermore, computer aided engineering (CAE) tools are expensive
and require time to master. In order to minimize number of different tools needed,
software packs are evaluated using the verification models. After the verification, we
assessed the possibility of using the only one CAE tool for the whole process.
2 SOFTWARE VERIFICATION
To determine the errors and applicability of each used software, verifications of
the dynamic, static and the fatigue stress analyses were conducted. Since both the
design [6] and optimization processes are iterative, the use of only one software (if
possible) shortens the process. For various tasks, Solidworks, Autodesk Inventor,
Ansys and MSC Adams results are compared. It is important to note that the main
criterion for choosing the software was its applicability on a number of problems, and
not necessarily the result exactness. Planned design process is shown on the Figure 1.
Figure 1. Planned design process flowchart
2.1 Dynamic analysis verification

MSC Adams (GSTIFF solver with I3 formulation was used) and Autodesk
Inventor 2015 dynamic analyses results were compared. Dynamic analysis verification
model consists of the lever rotating around the joint with constant rotational speed
(Figure 2). During the rotation, reactional forces and torques appear in the joint.
Calculated static torques are compared to the analytical solution (as shown in Table 1).
Figure 2. Dynamic analysis verification model
342
Case Study on CAE Tools: Optimization of a 6-axis Robotic Arm for MAG Welding
Table 1. Torques and errors calculated on the verification model

Analytic Inventor Adams
Static torque Mstat / Nm 61.452 61.4773 61.4563
Error (%) - 0.041 0.007
Since the error values are minimal, both the Autodesk Inventor and MSC
Adams are considered validated.
2.2 Finite element stress analysis verification

For conducting the FEM stress analysis, Autodesk Inventor and Ansys are
compared. Both are validated on the simple model for which analytical solution is
known (Figure 3). Chosen specific load value is q=0.05 MPa. To ensure convergence,
analysis is defined as adaptive, which enables the software to refine the mesh until the
pre-defined criteria is met. Currently, two criteria exist [7]:
Maximum number of h refinements specifies the number of h refinement
cycles for convergence. Its chosen value is 4, with default refinement threshold
value h=0.75.
Stop criteria ceases the refinement when the difference between the two
consecutive results is less then specified. Chosen value is 2%.
Figure 3. Numeric stress analysis verification model
Also, Inventor enables the use of linear and quadratic tetrahedral finite
elements for 3D analysis; which were compared to the Ansys results for the quadratic
tetrahedral and quadratic hexahedral elements. Results are shown in the Table 2.
Table 2. Results of the FEM stress analyses

Autodesk Inventor Ansys
Variable Unit Analytical Linear Quadratic Quadratic
Hexahedral
tetrahedral tetrahedral tetrahedral
max MPa 30 29.01 30.413 29.646 29.616
E % - -3.41 1.348 -1.194 -1.297
w mm 1 0.9857 0.9874 0.985 0.987
Ew % - -1.451 -1.276 -1.527 -1.3182
343
2.3 Fatigue stress analysis verification

Due to fatigue, machine element fractures can be caused by stresses lower
than the material tensile strength. According to ASM [8], fatigue accounts for 80% of all
the cost associated with the fracture of metal structures. The ASME [9] example
(stress history shown on Figure 4) was used for the software verification. It consists of
the plate ( b, h) under the uniform tensile stress of 1 MPa. Since the stress cycle
amplitudes are variable, Rainflow method [10] was used to enable the use of the
Palmgren-Miner rule.
Table 3. Stress cycles after the use of

Rainflow method
a / m / n
Flow
MPa MPa path
675 75 1 D-G
525 75 1 H-C
300 150 1 E-F
225 -75 1 A-B
Figure 4. Resulting repeating cycle

from ASME example
By using the Palmgren-Miner rule on the example above, number of cycles

before the break was calculated. S-N curve equation (1) for S355 steel (material
properties found in [11]) was used to calculate the said number without the influence of
mean stress:
Sa Sf Nfb . (1)
Impact of mean stress (Table 3) was determined using the Soderberg,

Gerber and Goodman relations. Solidworks and Ansys were used for the numerical
solutions.
Table 4. Fatigue stress analysis verification results

Analytical Ansys Solidworks
Relation solution Nf Error (%) Nf Error (%)
Nf (-) 45.063 45.066 0.0067 44.433 -1.418
Nf (Goodman) 8.669 8.6735 0.0519 8.554 -1.327
Nf (Gerber) 36.486 36.493 0.0192 35.984 -1.395
Nf (Soderberg) 2.3502 2.3504 0.0085 2.326 -1.0404
Both Ansys and Solidworks solution errors are low (Table 4), however
Solidworks solution displays a greater error by two orders of magnitude.
Furthermore, after observing the Tables 1 and 2, Ansys-Inventor combination was
chosen. Since Ansys can be integrated into the Autodesk Inventor, its possible to
complete all the analyses using only one software interface.
344
3 DESIGN PROCESS
Market analysis was undertaken in order to gather the design parameters
needed to create the simplified model. The customer needs, competition products and
current product design trends were considered. Following key features are identified:
load capacity, maximal velocity, arm reach, repeatability and precision. Resulting
desired specifications are shown in Table 5.
Table 5. Chosen design specifications

Manufacturer Model Capacity Reach Mass
Yaskawa Motoman Motoman MA 1550 3 kg 1.584 m 130 kg
Asea Brown Boveri IRB 1520 ID 4 kg 1.500 m 170 kg
Kuka KR 16 arc HW 8 kg 1.636 m 245 kg
Fanuc ARC Mate 100iC/7L 7 kg 1.632 m 135 kg
Chosen specifications 6 kg 1.800 m -
Next step was designing the simplified model (Figure 5) for the dynamic
analysis which was conducted using both MSC Adams multibody dynamics simulation
software and Autodesk Inventor 2015. Analysis provided the load conditions arm has
to withstand.
Figure 5. Simplified model
By using the simplified model and desired rotational accelerations and

velocities, loads and torques that can be used for dimensioning are calculated. It is
important to note that due to limited space only analyses of the critical parts will be
shown in this article. Also, during the iteration process loads change due to the
changes in the part geometries, so the dynamic analysis will be repeated in order for
product to be optimized.
3.1 Finite element stress analysis

After the part is modelled, stresses are determined using the finite element
static stress analysis. Parts are loaded according to the previously performed dynamic
analysis, and mesh refinement was varied to ensure convergence. Only the analyses
of the most heavily loaded parts are shown in this article (Figure 7). Qualitative
deformations are also displayed (red highest, blue no deformation).
345
Figure 7. Arm parts; a) base, b) rotation stand and c) arm section 1
To simplify the numeric model, components of the robotic arm are constrained
as fixed support. Since time difference between the largest torques on each of the
axes is small, to remain on the side of safety regarding the stress, models are loaded
as if torques appear simultaneously.
3.2 Fatigue stress analysis

In contrast to static analysis, where maximal loads were used regardless of the
time, fatigue analysis considers both the time of occurrence and load magnitude. Since
rotational plate displayed largest deformations and stresses during the static FEM
analysis, it is chosen for a further analysis. Overall torque T=T(t) is calculated (Figure
8). Torque peaks which will be used in the analysis are also shown.
Figure 8. Overall torque T (t)
Simplified analytical model was used to determine the load at the specified
time. Only the highest load (in the each of the 13 points) has been observed, and was
later used as the maximum stress of the fully reversed cycle and the repeated stress
cycle with the mean stress influence calculated using Gerber formulation.
Based on Ansys results it could be determined that the number of cycles before
the break is above the 109 cycles. Lastly, it should be noted that simplifications were
used. In order to ensure safety, most adverse load conditions were used. In order to
calculate the more precise number of cycles, elasticity of the components should be
included in the analysis.
346
Table 6. Loads and principal strain calculated in the observed time points
Stress
Load
(Von Mises)
Point Fx / N Fy / N Fz / N Mx / Nm My / Nm Mz / Nm eq / MPa
1 12 -567 -73 77.69 4.79 60.01 12.52
2 -122 -575 -48 80.32 17.42 -194.02 18.1
3 68 -575 -45 72.91 26.58 10.52 11.43
4 -70 -700 355 36.07 -282.7 -465.08 53.25
5 -874 -710 281 79.91 -185.27 -200.69 27.72
6 -770 -540 -348 246.36 214.08 -600.34 68.04
7 -59 -544 -8 -14.12 2.2 -63.09 10.71
8 280 -593 169 -131.26 78.9 530.98 55.24
9 -13 -586 15 -9.84 3.73 46.82 6.59
10 110 -598 20 -1.51 1.96 183.23 16.43
11 90 -526 45 -34.08 -5.47 39.72 7.51
12 -379 -594 -169 80.03 174.84 -600.4 45.41
13 0 -586 0 3.16 0 52.19 7.44

After the manual iteration process was finished (as stated in Figure 1), the
resulting design (Figure 9) was detailed. Wanted specifications of the final product
have been met (reach of 1.8 m and load capability of 6 kg). With decreasing the mass,
energy costs also decrease, so the estimated mass of the assembly (131.5 kg) is
considered its greatest advantage ahead of the competition (Table 5). Most of the parts
are made of aluminium, with except of the steel base parts (greatest stress).
Figure 9. Final design
While decreasing the mass, special care should be devoted to the rigidity of the
system. Even though the stresses values may be low, if left uncontrolled deformations
may cause lower precision. Using one software interface has many benefits. During
the manual optimization phase, parametric modelling enabled changing the
dimensions directly in the FEA software, which proved to be time saving. Change was
automatically linked to CAD model. Also, software integration offered easier modelling
coupled with the FEA software robustness.
On the other hand, calculation error should also be addressed. As shown on
the Table 1, dynamic analysis results using Autodesk Inventor show greater error. In
[12] Bernd et al. found that while using different FEA tools on the same part, calculated
stresses can dissipate up to 50%; meaning that even though the software integration is
time saving, it can be contra-productive if the software operator lacks knowledge about
the mathematical background. Furthermore, in order to carry out the described
process, both software licences have to be purchased.
347
5 CONCLUSION
6-axis robotic arm for MAG welding has been designed and optimized. Also,
the use of only one software interface (Autodesk Inventor with integrated Ansys) for
both the modelling and analysing was validated; which decreases the time spent, cost,
and reduces the error encountered while transferring the data between the different
software.
During the design, many CAE tools were used in order to reach the optimal
solution. In the future, the robotic arm can be further optimized by using the dynamic
analysis with elastic components to provide more exact loads, deformations and
accurate precision assessment. Also, the use of topology optimization could prove
beneficial to the design.
REFERENCES
[1] Devol, G. C., 1954, Programmed article transfer, United States of America Patent
US2988237 A.
[2] Statista Inc, 2015, The Statistic Portal, Statista Inc, [Online]
http://www.statista.com/topics/1476/industrial-robots/. [Accessed June 13 2016].
[3] Moultrie, J., Sutcliffe, L., Maier, A., 2016, Exploratory study of the state of
environmentally conscious design in the medical device industry, Journal of Cleaner
Production, vol. 122, pp. 252-265.
[4] Seow, Y., Goffin, N., Rahimifard, S., Woolley, E., 2016, A 'Design for Energy
Minimization' approach to reduce energy consumption during the manufacturing
phase, Energy, vol. 109, pp. 894-905.
[5] Roche, T., 2005, The Design for Environmental Compliance Workbench Tool, Product
engineering: Eco-design, technologies and green energy, Dordrecht, Springer, 2005,
pp. 9-17.
[6] Dym, C. L., 2014, Engineering Design: A Synthesis of Views, Cambridge: Cambridge
University Press
[7] Autodesk, 2014, Convergence Settings, [Online] https://knowledge.autodesk.com
/support/inventor-products/learn-explore. [Accessed June 15 2016].
[8] Hudgins, A., James, B., 2014, Fatigue of Threaded Fasteners, Advanced Materials &
Processes, no. august, pp. 18-22.
[9] ASTM International, 2011, ASTM E1049-85(2011)e1 Standard Practices for Cycle
Counting in Fatigue Analysis, West Conshohocken: ASTM International.
[10] Matsuishi, M., Endo, T., 1968, Fatigue of metals subject to varying stress, Proc.
Kyushu Branch of Japan Society of Mechanical Engineering, pp. 37-40.
[11] De Jesus, A. M., Matos, R., Fontoura, B. F., Rebelo, C., Da Silva, L. S., Veljkovic, M.,
2012, A comparison of the fatigue behavior between S355 and S690 steel grades,
Journal of Constructional Steel Research, no. 79, pp. 140-150.
[12] Roith, B., Troll, A., Rieg, F., 2007, Integrated Finite Element Analysis (FEA) in
Three-Dimensional Computer Aided Design Programs (CAD) - Overview and
Comparison, Proceedings of ICED 2007, the 17th international conference on
engineering design, pp. 1-12., The Design Society.
348
_____________________________________________________________________________
INSTALLATION OF RAILWAYS
FOR WELDING PORTAL GUIDANCE
Milan Blagojevi1, Svetozar Rajnhofer2
Abstract: This paper proposes a method for setting up rails for welding portal guidiance
in accordance with the requirements of the norm VDI 3576. Using the photogrammetry
based optical measuring system TRITOP positions of uncoded reference markers
placed on the floor are determined. Rails position are tuned using the GOM Touch
Probe through several iterations per side and height straightness. Regular instalation
of the rails for welding portal guidance is prerequisite for trouble-free operation. Both
rails meet all tolerances required by the VDI norm. Procedure proposed in this paper
provides the correct rails' installation.
Key words: optical measuring, photogrammetry, railway, touch probe, welding portal
1 INTRODUCTION
The train body shell of contemporarary trains are made modular comprising an
frame assembly, roof assembly and two bodyside structures each fixed both to the
frame assembly and to the roof assembly. The bodyside structure is part of rail
vehicles bodywork manufactured from welded aluminum or aluminum alloy extruded
profiles.
To make the job more productive and ergonomic for their welders, increase
their capacity and meet regulatory and customer demands, Milanovi Inenjering is
purchased a HAANE flexible welding portal for welding bodyside structures [1, 2].
Welding portals completely automate a welding process by performing the weld, while
a human operator prepares the materials to be welded. The process reduces
inconsistent welds compared to manual welding.
Guidance of welding heads along one of the axis in this machine is provided
through the rails. This paper proposes method for setting up rails for welding portal
guidiance in accordance with the requirements of the manufacturers and of the norm
VDI 3576 [3].
1 Milan Blagojevi, PhD student, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
(blagoje@kg.ac.rs), corresponding author
2 Svetozar Rajnhofer, Milanovi Inenjering, Kragujevac, Serbia, (toni@miing.rs)
349
Milan Blagojevi, Svetozar Rajnhofer
2 MATERIALS AND METHODS
2.1 Photogrammetry and optical touch probe

Instead of traditional contact, optical or laser measurements, hybrid method is
used: photogrammetry and optical touch probe with 3D scanner. Coordinate measuring
system TRITOP captures precise 3D coordinates of adhesive freehand marked points
[4]. By snapping photos from various angles with reference markers and utilizing the
principles of triangulation, precise 3D points are calculated (Figure 1a). Scale bars,
positioned next to the object, provide scale of model and serve to observe the
measuring accuracy [4, 5]. Ideally, the two scale bars should correspond to maximal
dimensions of the object of measurement. When measuring large objects maximal
length of invar scale bars (5m) is used. The ATOS 3D Digitizer is based on pronciple of
triangulation using stereo camera setup [4, 6]. Add-on to the ATOS 3D Digitizer,the
GOM Touch Probe, is a calibrated set of point markers which are optically tracked by
the ATOS 3D Digitizer (Figure 1b) [4]. ATOS tracks uncoded reference points to
calculate own position in reference to measuring object, and then calculates the online
3D coordinates of the touch probe.
(a) (b)
Figure 1. Photogrammetry: (a) Basic terms, relative orientation of measuring images
and principle of reference points resection, (b) GOM Touch Probe
2.2 Rail adjustment method

Upon the request of manufacturer, rails' installation is carried out according to
tolerance class 2 or 1 of norm VDI 3576 (page 36, table 2.7.3) [2, 3]. The average size
of a trace S = 1500mm has a maximum permisible deviation of 5mm (tolerance class
2) [3]. Side straightness of rail B has a maximum permisible deviation of 10mm per
the entire length, and maximum 1mm per two meters of rail's length (tolerance class 2)
[3]. Height straightness of rail C has a maximum permisible deviation of 5mm per the
entire length, and maximum 1mm per two meters of rail's length (tolerance class 1) [3].
The difference in height E of both rails, relative to each other, has a maximum
permisible deviation of up to 2 mm (tolerance class 1) [3].
Uncoded reference markers are placed on the floor so that they are visible in
the necessary positions of 3D scanners and enable all the envisaged adjustment
(Figures 2a). Uncoded reference points are also placed on the hall's wall to provide
that the machine axis is parallel to the wall. Then, photogrammetric images of
measuring volume are taken and positions of uncoded reference points on the floor
were obtained [4].
350
Installation of Railways for Welding Portal Guidance
In holes drilled on the floor threaded rods were placed. These rods carrying
plates on which supports rails (Figure 3a). Height adjustment of plates is possible via
two nuts that are located below the plate, while their tightening is possible via two nuts
that are located above the plate. The rails are set to plates so that they are lieing on
the rubber pads (Figures 2b and 3a).
All settings are performed using the measuring adapter, to ensure that the
measurements are carried out at the same place on the rail profile (Figure 3b). The
rails position adjustment is performed through several iterations. Everi iteration contai
the folowing steps: (1) the height of all plates is leveled, (2) leading rail is adjusted so
that it is parallel to the wall, (3) by using aluminum caliper non leading rail is set
roughly parallel to leading rail (Figure 2c), (4) the height and side straightness of non
leading rail are set. To avoid portal jamming in segments of rails, compliance of
tolerances b and c are analyzed.
(a) (b)
Figure 2. Project phases: (a) uncoded reference points are set to the floor,
(b) rails are mounted on supporting plates
(a) (b)
Figure 3. Rail adjustment: (a) suporting plate, (b) side straightness measurement
3 RESULTS
Measurement accuracy was checked by measuring length of 200mm of gage
blocks set arbitrarily within the uncoded points cloud. At several points along rails was
performed photogrammetric measurement of trace and compared with the dimensions
obtained in the model using GOM Touch Probe. The method is verified also with
proper operation of the machine in period of two years.
351
Milan Blagojevi, Svetozar Rajnhofer
HAANE single-column portal system mounted on rails is shown in Figure 4.

Axis of rails are parallel to the direction of the weld and rails play the role of an
machine's axis.
Figure 4. HAANE single-column portal system mounted on rails
4 CONCLUSION
In this paper the procedure for installation of railways for welding portal
guidance is proposed. Procedure use hybrid approach where photogrammetry and
optical touch probe with 3D scanner are employed. Both rails meet all tolerances
required by the norm VDI 3576. Procedure proposed in this paper provides the correct
rails' installation.
Welding portal is used for welding of bodyside structures composed of
aluminum alloy panels with length from 2m up to 6m. Next to the welding portal custom
made jigs and fixtures are placed, ensuring that the panels are welded in an optimum
position. Welding head is reguided across the entire travel way in order to compensate
irregular profile geometry and groove deviations from straightness in the horizontal and
vertical planes. Almost all groove geometries can be scanned with the exception of the
gapless I-groove [2]. Regular instalation of the rails for welding portal guidance was
prerequisite for trouble-free operation.
ACKNOWLEDGMENT
The part of this research was supported by Ministry of Education, Science and
Technological Development, Republic of Serbia under Grant TR32036.
REFERENCES
[1] Milanovic Inzenjering, http://www.miing.rs/, accesed on 31. 10. 2016.
[2] HAANE welding systems, Product Catalog (english), http://www.haane.de/wp-
content/uploads/2015/05/Haane-Katalog_E.pdf, accesed on 21. 10. 2016.
[3] VDI 3576 - Rails for crane systems: rail links, rail supports, rail fasteners,
tolerances for crane tracks.
[4] GOM, http://www.gom.com/, accesed on 31. 10. 2016.
[5] Important informations for Invar scale bars, Rev-e 2007-Jun-21
[6] ATOS II (Rev. 01), atos2_rev01_v7_en_rev-b 12-Oct-2010
352
_____________________________________________________________________________
PARAMETRIC MODELING OF GEROTOR PUMP

Milo Mateji1, Lozica Ivanovi2, Nenad Kosti3
Abstract: Gerotor pumps have compact and simple design, good kinematic
characteristics, large efficiencies, and many other advantages relative to other rotary
pumps. Because of its good characteristics, gerotor pumps have are widely used.
Gerotor pumps are used for hydraulics machines, car engines, compressors, and for
many other purposes. Basic components of gerotor pumps are inner and outer rotor.
During the investigation of gerotor pumps it is very important to get inner and outer
rotor easily as for theoretical investigations as for their production. In this investigation,
an i-Logic rule with user form is created in Autodesk Inventor CAD software for
automatic design of inner and outer rotor. User from input parameters are: teeth
number of outer rotor, pump eccentricity, trochoid radius coefficient and outer rotor
width. Generating of inner and outer rotor is possible for any combination of
parameters, which fulfills geometric and kinematic constraints, which means that a
problem of generating of gereotor is, solved in general case. Simultaneously is also
created a meshing kinematics of inner and outer rotor. Application of presented results
is reflected in fast creating of different profiles combination and its meshing, which
makes meshing analyses much easier. In the framework of future research in this area,
planned is CFD analysis for specific gerotors and its experimental verification.
Key words: gerotor, gerotor pump, inner rotor, outer rotor, parametric modeling.
1 INTRODUCTION
One of the new types of gearing, which could replace involute gearing in a
largely extent is the trochoidalgearing. Implementing a trochoidalgearing in gear
technology would have large positive effect on the functional characteristics: required
efficiency and service life with minimum mass and overall dimensions. Trochoidal
gearing implementing would lead to a reduction in material consumption which would
lead to large savings. Another major advantage of the trochoidal gearing is
simultaneous contact of all gearing tooth is achieving better load capacity related to the
gear pairs with involute gearing.
Because of the advantagestrochoidal gearing there is a great interest of
Mechanical Engineers for their implementation into mechanical systems. Applying
1MSc, Milo Mateji,Faculty of Engineering University of Kragujevac, Serbia, mmatejic@kg.ac.rs(CA)

2PhD, Lozica Ivanovi,Faculty of Engineering University of Kragujevac, Serbia, lozica@kg.ac.rs
3 MSc, Nenad Kosti,Faculty of Engineering University of Kragujevac, Serbia, nkostic@kg.ac.rs
353
Milo Mateji, Lozica Ivanovi, Mirko Blagojevi, Nenad Kosti
trochoidal gearing is present in a large number of rotary machines which are used in a
variety of purposes: rotary pumps, rotary motors, rotary compressors and blowers. A
good part of the implementation trochoidal gearing occurs in cycloid drives that belong
to a special group of planetary gearboxes. Due to the good characteristics of trochoidal
gearing, it is cost effective to work on their development.
One of the most important aspects of analyzing gerotor pump is certainly the
analysis of dynamic behavior of pump elements during the its operation. C. F. Heish [1]
with this kind analysis came to the useful results which can be further applied into
production of gerotors. A very important is aspect of analyzing forces and pressures
that occur in gear with inner gearing of gerotor [2]. Also, very important aspect is the
kinematic analysis gerotors [3], as well as the determination of pump flow [4]. By
observing and taking into account all of these aspects, it can be concluded that the
research gerotors could be very accelerated if there were their adaptive parametric
CAD model. Some groups of authors are partially managed to implement this kind of
model in researching of gerotor [5-7]. In order to make this model usable for practical
research and experiments, it is essential to implement technological gaps in the model
[8-9].
This paper presents a parameterized model gerotor pump. The parametrized
CAD model automatically creates gerotor gears with simultaneous generating of gears
kinematic. The parametric model is developed to generate all combinations of gearing
parameters that are physically feasible.
2 GEOMETRIC CHARACTERISTICS OF GEROTOR GEARING

In practice, trochoidal profiles are applied most frequently for the inner gearing.
In the innertrochoidal gearing profile of one of the gears is generated by trochoid, while
the coupled profile is adequate inner or outer envelope. Due to the specific geometry,
the entire profile can be applied for the coupling. Trochoids equations can be written in
the following general expression:

xt et cos kt cos
kt
, (1)

yt et sin kt sin
kt
and the equations of inner and outer envelopes are:
2 1 2 2
xa ekt cos sin 2 sin w cos
kt kt kt
, (2)
2 1 2 2
ya ekt sin sin 2 cos w sin
kt kt kt
Wherein:
1
sin 2
2 2
w 2 cos2 . (3)
2
354
Parametric modelling of gerotor pump
In equation (3) the character "+" refers to the outside, a sign "-" on the inner
envelope. In order to simplify the performance of parameterization equations (2) are
transformed into the following form:
x Ra Rb cos +e cos + q cos +

, (4)
y Ra Rb sin +e sin + q sin +
Equations (4) are used for a parametric model of trochoidal gear with
outergearing, while the gear with inner gearing is done by approximation with circular
arcs, [10, 11].
3 PARAMETRICMODELLINGOF GEROTOR GEARING

Parametric modeling of gerotorgearingis done in the software named Autodesk
Inventor. Top-down assembly modeling technique is applied for easier access to all
gerotor parameters [11]. All gerotor parameters are defined in assembly file and
associated with the individual parts of the gerotor pump (gear with outer gearing, gear
with inner gearing and eccentric shaft). Mode of defining parameters is given in Figure
1.
Figure 1. Parameters definition
Parameters defining creates all the variables that define the assembly, and all
the variables that define the individual parts of the assembly. All mutually dependent
parameters are also linked by mathematical relations. After defining the parameters, all
of the gerotor files are created: gear with outer gearing, gear with inner gearing and
eccentric shaft.
355
All created individual parts files have the same parameter names as in the
assembly file. This operation was necessary in order to write a script which connects
parts files and their relations to assembly file with controlling form.
The most difficult part of gerotor in creating its CAD model is certainly a gear
with outertrochoidal gearing. The profile of this gear was created using the controls for
parametric drawing functions on the adapted equation (4). Creating parametric drawing
function for trochoidal tooth profile is given in Figure 2.
Figure 2. Trochoid profile generation
After creating the part files and definition of their parameters, such as the
previously defined in assembly file, it is accessed to connecting part files with the
assembly file. This step is performed in the environment i-logic. Connecting the
parameters of part files and assembly parameters is performed by writing scripts for
equalization parameters. Scripts are written by using the command Add rule. Figure 3
shows a code for the connection between part files parameters and previously n
assembly file.
Figure 3. Linking parameter rule
This approach is used for creation of general gerotor CAD model with all
kinematics parameters. Obtaining the desired dimensions of gerotor is possible by
changing the values of independent parameters showed in dialogue in Figure 1.
However, in order to speed up this process, a form with independent parameters is
356
made. The advantage of introducing forms consists in the fact that it cannot make
mistakes when entering input data. Gerotor CAD model is generating by changing the
values in dialog box showed in Figure 1. In preparing the form data entry fields were
made with explanations and parameter designations (Figure 4).
Figure 4. Communication form
The form for communication with the parametric model of gerotorhas been
filled the following parameters:
Table 1. Parameters used for gerotor generation

Parameter name Designation Value Unit
Eccentricity e 5 mm
Trochoid coefficient 1,5 -
Tooth number of inner gear z1 5 -
Gear width b 20 mm
Other gerotor parameters has been obtained by mathematical relations using

the parameters given in Table 1.
4 GEROTOR TECHNOLOGICAL GAP DETERMINATING

To make installation and operation of gerotor possible, it is necessary to make
the gearing with the technological gap. This gap can be calculated, [8,9] or adopt
according to recommendations from the literature. Model developed in this paper
allows the user to measure the technological gap in a few iterations. This is achieved
by using the collision option in kinematics simulation, Figure 5.
Figure 5. Clearance determination
357
The quickest obtaining of technological gap is done by determine some initial

value and then bisect interval until it reaches the tooth interference. When it comes to
interference with bisection of the interval, value returns to the previous where
interference not exist. For example, given in Figure 5, technological gap is determined
by the in 6 iterations and it amounts 0.02701 mm.
Figure 5. Parametric model with technological clearance
5 CONCLUSION
This paper represents parameterization of gerotor gears with eccentric shaft.
Investigation is showing a modern approach to CAD modeling, which significantly
reduces the time spent on the design of gerotors. In this modeling approach can be
very easily integrated optimization method and set of objective function depending on
the desired optimization criteria.
Solving of this problem any combination of feasible gerotor parameters is
possible for creation in CAD environment. Generation of CAD model also shows
simultaneously generated kinematics of movement gerotor elements, no matter what
the number of teeth and the dimensions of the pump are concerned. In this paper the
particular model of gerotor is concerned. Model parameters are given in table 1 is used
in communication form, and model is generated. According to thoseparameters, model
couldnt work, so the technological gap had to be included. Technological gap is
determinated by collision detection. Technological gap for this particular model needs
to be at least 0.0271 mm, so model can be practically feasible.
A further step in the research on this topic will be the creation of an algorithm
which will automatically determinate the technological gap. Using this approach, to
monitor and conduct analysis of any gerotor size with any parameters of gearing it is
possible.
ACKNOWLEDGMENT
This paper is a result of two investigations: (1) project TR33015, and (2) project
TR35033.The both projects are financedfrom the Ministry of Education, Science and
Technological Development of Republic of Serbia. The first project is titled
Investigation and development of Serbian zero-net energy house, and the second
358
project is titled Sustainable development of technology and equipment for the ELV
recycling. We would like to thank to the Ministry of Education, Science and
Technological Development of Republic of Serbia for their financial support during
these investigations.
NOMENCLATURE
Variables:
b gear width, mm
e eccentricity, mm
kt z=z1+1,-
Ra rolling circle radius, mm
Rbstationary circle radius, mm
w distance between the circular gear tooth profile and the real trochoidal profile, mm
xa abscissa, mm
ya ordinate, mm
z1 tooth number of inner gear, -
Greek symbols
angle between the starting and current position of the contact point of the basic and
rolling curve relevant to the center of the base curve, rad
auxiliary angle, used to simplify the calculation, rad
auxiliary angle, used to simplify the calculation, rad
rotation angle of the reference line, which connects the center of the kinematic
circles and passes through the kinematic pole for generating trochoids, rad
angle of the epicycloid, rad
trochoid coefficient, -
Subscripts and superscripts
a envelope
a rolling circle radius index, eq. (4)
b stationary circle radius index, eq. (4)
t trochoid
REFERENCES
[1] Heish, C. F. (2012). Fluid and Dynamics Analyses of a Gerotor Pump Using
Various Span Angle Designs, Journal of Mechanical Design, vol. 134, p.p. 121003
1-13.
[2] Ivanovic, L., Blagojevic, M., Devedzic, G., Assoul., Y. (2010). Analitycal and
Numerical Analysis of Load GerotorPumps, Scientific Technical Review, vol. 60,
no. 1, p.p. 30-38.
[3] Ivanovic. L., Josifovic, D. (2006). Specific Sliding of Trochoidal Gearing Profile in
the Gerotor Pumps, FME Transactions, vol. 34, p.p. 121-137.
359
[4] Ivanovic. L., Josifovic, D., Blagojevic, M., Stojanovic, B., Ilic, A. (2012).
DETERMINATION OF GEROTOR PUMP THEORETICAL FLOW, COMETa 2012,
Conference proceedings, 28th- 30th November, p.p. 243-250.
[5] Kim, J. H., Kim, C. (2006). Development of an Integrated System for Automated
Design of Gerotor Oil Pump, Journal of the Korean Society of Precision
Engineering, vol. 23, no. 2, p.p. 88-96.
[6] Jung, S. Y., Han, S. M., Cho, H. Y., Kim, C. (2009). Automated design system for a
rotor with an ellipse lobe profile, Journal of Mechanical Science and Technology,
vol. 23, p.p. 2928-2937.
[7] Kwon, S. M., Kang, H. S., Shin, J. H. (2009). Rotor profile design in a hypogerotor
pump, Journal of Mechanical Science and Technology, vol. 23, p.p. 3459-3470.
[8] Ivanovic, L., Eric, M., Stojanovic, B., Ilic, A., (2011). Determination of Tooth
Clearances at Trochoidal Pump, FME Transactions, vol. 39, no. 3, p.p. 117-126.
[9] Ivanovic, L., Devedzic, G., Cukovic, S., Miric, N. (2012). Modeling of the Meshing
of Trochoidal Profiles With Clearances, Journal of Mechanical Design, vol. 134,
p.p. 041003 1-9.
[10] Ivanovi, L. (2006). Indetifikacija optimalnog oblika trohoidnog profila zupca
elementa rotacioni hpumpi, Doktorskadisertacija, Mainski fakultet Univerziteta u
Kragujevcu.
[11] Petrovic, N., Matejic, M., Kostic, N., Blagojevic, M., Marjanovic, N., (2015).
PARAMETRIC MODELING OF A CYCLOID DRIVE RELATIVE TO INPUT SHAFT
ANGLE, MASING 2015, Conference proceedings, 17th September, p.p. 157-160.
360
_____________________________________________________________________________
THE ANALYSIS OF STRESS-STRAIN STATE OF GEARS MADE

FROM COMPOSITE MATERIALS
Nevena Stevanovi1, Zorica Djordjevi 2, Saa Jovanovi3, Olivera Gavrilovi4
Abstract: In this paper, the spur gear model is generated using the software Inventor
and imported to software package Ansys for a static structural analysis. The static
analysis is performed to determine the strain and Von-Misses stresses. The analysis is
done by considering different materials for gears like steel 16MnCr5, glass filled PEEK
(Poly-ether-ether-Ketone), carbon filled PEEK, glass filled PA6 (Polyamide 6) and
glass filled PA66 (Polyamide 66), and the results are then compared. The results of
this analysis are presented in this paper as figures and tables of Von-Misses stresses.
It is concluded that the use of PEEK reinforced with 30% of carbon fibres shows the
best results in sense of values of stress on the side of a tooth of the gear and stress at
the bottom of a tooth of the gear.
Key words: composite gears, finite element method, spur gears
1 INTRODUCTION
In the development centres of major industrial companies and scientific
research institutes, a lot of research is being conducted for the purpose of a more
complete assessment and an improvement of the properties of new materials so as to
obtain materials for new products, that is new areas of application. The application of
composite gears represents a relatively new area of application in industry, so that,
even today, researchers are still examining the properties of composite materials, that
is, they are examining which composite material can be used as a substitute for steel
in the production of gears. A lot of papers on composite gears have already been
published.
1 Nevena Stevanovi, Faculty of Engineering Kragujevac, University of Kragujevac, Kragujevac, Serbia,

nevenapipi@gmail.com
2 Dr Zorica Djordjevi, Faculty of Engineering Kragujevac, University of Kragujevac, Kragujevac, Serbia,
zoricadj@kg.ac.rs (CA)
3 Dr Saa Jovanovi, Faculty of Engineering Kragujevac, University of Kragujevac, Kragujevac, Serbia,
dviks@kg.ac.rs
4 Olivera Gavrilovi, Faculty of Engineering Kragujevac, University of Kragujevac, Kragujevac, Serbia,
olja.gavrilovic@wwwindustry.net
361
Nevena Stevanovi, Zorica Djordjevi, Saa Jovanovi, Olivera Gavrilovi
A study [1] confirms that the act of adding fibres to a basic material
(polyamide) affects the mitigation of vibrations and noise during the operation of a gear
pair. It also demonstrates how applying pressure to the gears impacts the temperature,
in the sense that by changing the type of the material, the temperature increase in the
gears can be decreased.
The experiment shown in the study [2] confirms the assumption that the
addition of glass fibres to polyamide generates better heat reduction compared to a
gear made only from polyamide, which leads to a decrease in the temperature of the
gear, thus prolonging its life expectancy.
A study [3] shows that a gear made from Poly-ether-ether-Ketone an addition
of 30% of glass fibres has proven to be better in practice than a gear made from
polyamide with an addition of 30% of glass fibres. The experiment was conducted
using different torque values and a different number of turns.
One study [4] explains which way of manufacturing gears is the most cost-
efficient, and another study [5] explains which parameters can influence a better quality
of the process of manufacturing gears. Shrinkage of products represents one of the
main problems in the manufacture of gears, which is why a lot of research on this
problem is still being conducted.
2 CALCULATION OF STRESS AND STRAIN OF STEEL GEARS USING THE

FINITE ELEMENT METHOD
The finite element method (FEM) is one of the most widely accepted modern
methods in all areas of physics and technical sciences. Using this method, unlike some
analytical methods, even the most complex problems can be solved, almost completely
real limits can be considered, as well as some complex geometric forms, and others.
The finite element method is a modern numerical method which is used for projecting
and calculating mechanical constructions using a computer.
The calculation of the stress of gears (u=1.76, m=5 mm, z1=29, z2=51) made
from the material 16MnCr5 (4320) was done in the software package Ansys. Figure 1
shows the appearance of a model of gears with a generated network of finite elements.
The network is thicker in the area around the mesh of the teeth.
Figure 1. Generated network of finite elements
362
The analysis of stress-strain state of gears made from composite materials
When all the necessary conditions are defined (load and boundary conditions)
by clicking the icon Solve, analysis started. Figure 2 shows the value of the stress on
the side of a tooth of the gear, nd Figure 3 shows the value of the stress at the bottom
of a tooth of the gear.
Figure 2. Value of stress on the side of a tooth of the gear
Figure 3. Value of stress at the bottom of a tooth of the gear
The resulting values of stress on the side and at the bottom of a tooth are
compared with the values of stress obtained by using an analytical method, using the
program Inventor (Table 1) [6]. The resulting deviations, given in Table 1, demonstrate
the accuracy of the formed model done using the software package Ansys, so that this
model is adopted to test the gears made from composite materials.
Table 1. Comparison of the stress values

Analytical Numerical
Deviation
calculation calculation
Stress on the side of a
629 MPa 644 MPa 2.38 %
tooth of a steel gear
Stress on the bottom of a
113 MPa 115 MPa 1.77 %
tooth of a steel gear
363
3 CALCULATION OF STRESS AND STRAIN OF COMPOSITE GEARS USING

FEM
Using the software package Ansys the analysis of the state of stress of several
types of composite gears was conducted. The analyzed materials included Poly-ether-
ether-Ketone reinforced with carbon and glass fibres, Polyamide PA6 reinforced with
glass fibres and Polyamide PA 66 reinforced with glass fibres. Table 2 shows the basic
characteristics of this composite material. The same model and the same limits were
used as in the analysis of steel gears.
Table 2. Basic characteristics of the composite material
Material Tensile modulus, E Poisson's ratio,

PEEK 30GF 10300 MPa 0.4
PEEK 30CF 28000 MPa 0.4
PA66 30GF 9000 MPa 0.34
PA6 30 GF 8700 MPa 0.314
Compared results of the values of stress on the side and at the bottom of the
tooth for all materials of composite gears are given in Figures 4 and 5, respectively.
Stress (MPa)
Figure 4. Compared results of the stress values of the side of a tooth of the gear
Stress (MPa)
Figure 5. Compared results of the stress values at the bottom of a tooth of the gear
364
The analysis of stress-strain state of gears made from composite materials
The best results are exhibited by the gear made from Poly-ether-ether-Ketone
reinforced with 30% of carbon fibres. Figures 6 and 7, respectively, show the
compared results of the stress values on the side and at the bottom of a tooth of a
steel gear and a composite gear made from Poly-ether-ether-Ketone reinforced with
30% of carbon fibres.
Stress (MPa)
Stress (MPa)
)
Figure 6. Compared results of the stress Figure 7. Compared results of the stress
values (MPa) of the side of a tooth of the values (MPa) at the bottom of a tooth of
gear made from composite material PEEK the gear made from composite material
30CF and steel PEEK 30CF and steel
Composite gears have advantage that their mass is considerably lower than
the mass of steel gears. Figure 8 shows the comparison of the mass of gear made
from steel and mass of gears made from different types of composite materials.
Mass (kg)
Figure 8. Comparison of the mass of gear made from different materials
Figure 8 shows that the lowest mass is the one of a gear made from
Polyamide PA66 reinforced with 30% of glass fibres (PA66 30GF). The mass of gears
made from this material is six times lower than the mass of gears made from steel.
4 CONCLUSION
An analysis of the stress-strain state of gears made from steel and composite
materials was conducted in this study. The goal was to show which advantages were
achieved by using a composite material in the manufacture of gears. Based on the
results obtained by using the software package Ansys, the best characteristics are
exhibited by the material Poly-ether-ether-Ketone reinforced with carbon fibres (PEEK
365
30CF). Using gears made from Poly-ether-ether-Ketone reinforced with 30% of carbon
fibres (PEEK 30CF), one can obtain a lowered stress value on the side of a tooth of a
gear by almost 4% compared to the stress value on the side of a tooth of a gear made
from steel and by 11% lower values of stress at the bottom of a tooth of a gear
compared to a steel gear. The mass of a drive gear made from PEEK 30CF is lower
than the mass of a steel gear by 82.14%.
This shows the advantage of application of composite materials in the
manufacture of gears in case when the lower mass of construction is needed.
ACKNOWLEDGMENT
This investigation is part of the project TR 33015 of Technological
Development of the Republic of Serbia and the project III 42006 of Integral and
Interdisciplinary investigations of the Republic of Serbia. We would like to thank to the
Ministry of Education and Science of Republic of Serbia for the financial support during
this investigation.
REFERENCES
[1] Senthilvelan, S., Gnanamoorthy, R. (2006). Damping characteristics of
unreinforced, glass and carbon,fiber reinforced nylon 6/6 spur gears, Polymer
Testing, vol. 25, no. 1, p.p. 435449.
[2] Senthilvelan, S., Gnanamoorthy,R. (2007). Effect of rotational speed on the
performance of unreinforced and glass fiber reinforced Nylon 6 spur gears,
Materials and Design, vol. 28, no. 3, p.p. 765772.
[3] Dighe, A.D.,Mishra,A.K.,Wakchaure, V.D. (2014). Investigation of Wear
Resistance and Torque Transmission Capacity of Glass Filled Polyamide and
PEEK Composite Spur Gear, International Journal of Engineering and Advanced
Technology, vol. 3, no. 3, p.p. 299303.
[4] Senthilvelan, S., Gnanamoorthy, R. (2006). Fiber Reinforcement in Injection
Molded Nylon 6/6 Spur Gears, Applied Composite Material, vol. 13, no. 4, p.p.
237248.
[5] Mehat,N.M., Kamaruddin,S., Othman,A.R. (2014). Optimized Injection Molding of
Unfilled and Glass Filled PA6 Gears, International Journal of Manufacturing
Engineering, vol. 2014, p.p. 18.
[6] Stevanovi N. (2016). The analysis of stress-strain state of gears made from
composite materials, Master's Thesis, Faculty of Engineering University of
Kragujevac, Kragujevac.
366
_____________________________________________________________________________
QUASI-DYNAMIC TESTING OF A BUTT-WELDED JOINT MADE OF

ALUMINIUM ALLOY 6060 (AlMgSi0,5)
uri Aleksija1 Biljana Markovi 2
Abstract: Aluminum, as well as its alloys, are considered lightweight materials and
have a significant role in building of lightweight constructions, both in the domain of
mechanical engineering and civil engineering. Due to the rapidly increased need for
lightweight constructions, the need for aluminum alloys welding increased as well. This
paper will present the results of an experimental testing of a butt-welded joint made of
aluminum alloy 6060 (AlMgSi0,5). It deals with quasi-dynamic tensile testing of welded
test tubes. The test tubes have been welded with TIG and MIG procedures. The results
obtained in this way have been compared mutually and then they have been compared
with the results from the analytical calculation of the welded joint.
Key words: butt-welded joint, aluminium alloy, quasi-dynamic tensile testing
1 INTRODUCTION
Lightweight design materials must meet a number of requirements. The
requirements related to the structure of lightweight construction should preferably be
met by using lightweight materials of high stiffness and strength. Construction weight
reduction can be achieved by using lower density materials [1]. Observing the basic
aspects of the selection of materials for lightweight constructions [2], it can be
concluded that the aluminum alloys are considered to be very adequate lightweight
materials. Due to the high applicability of these alloys, they often need to be welded
[3], and the data on mechanical properties of the welded joint are important for a
constructor during lightweight constructions design, selecting materials and welding
procedure.
The tensile testing method is one of the methods for determining mechanical
properties of a welded joint [4]. Depending on welding procedures and parameters,
and a type of alloy, mechanical characteristics may differ significantly [5]. The most
often aluminum alloys welding procedures are TIG [6], MIG or some hybrid
(unconventional) procedures [7]. In this paper, a quasi-dynamic testing of a butt-
welded joint made of aluminum alloy 6060 (AlMgSi0,5) is presented. The welded joint
1 Master, Aleksija uri, Faculty of Mechanical Engineering University of East Sarajevo, ES, BiH,
aleksijadjuric@gmail.com (CA)
2 PhD Biljana Markovi, Associate Profesor, Faculty of Mechanical Engineering University of East Sarajevo,
ES, BiH, biljana46m@gmail.com

367
uri Aleksija, Biljana Markovi
has been prepared with TIG and MIG procedures, and the aim of the paper is to
compare the load capacity obtained by quasi-dynamic testing on a universal testing
machine for the both named procedures in relation to the basic material. The
comparison is performed to determine that, even in the conditions of a load which
deviates from the static load, i.e. which is approximately a dynamic load, the welding
procedure and welder's knowledge and experience have a significant effect on the
mechanical characteristics of the welded joint.
2 MATERIALS AND EXPERIMENTAL TESTING METHODS

The experimental testing presented in this paper has been performed in
accordance with the algorithm shown in Figure 1. The aluminum alloy 6060 with
chemical composition AlMgSi0,5 was selected as the material for experimental testing.
Pursuant to [8], the stress at the yield point for the named alloy is within the limits from
72 to 170 MPa.
Figure 1. Experimental procedure
Previously prepared test tubes with the thickness of 3 mm and with other
dimensions as in Figure 2 were welded, as it has already been said, by TIG and MIG
procedures, the two procedures which are most commonly used in aluminum alloys
welding. The parameters used at welding of the test tubes are shown in Table 1.
Figure 2. Preparation of a test tube for welding
Table 1. Parameters for welding the test tubes made of aluminium alloy 6060
Parameters
Welding procedure Electrical current
Voltage Additional material
value
TIG 100 A 9V 2 mm
MIG 92 A 17,8 V 1,2 mm
368
Quasi-dynamic testing of a butt-welded joint made of aluminium alloy 6060 (AlMgSi0,5)
The TIG welding procedure was performed in Orao factory in Bijeljina, and it
was performed by an experienced welder, while the MIG welding procedure was
performed in the Laboratory for welding and material testing, at the Mechanical Faculty
in East Sarajevo, and the welding procedure was performed by a welder-beginner.
Regarding to the facts, the TIG welding procedure requires a lot of operators
experience, while for MIG welding procedure this is not the case. [9]. The appearance
of the test tubes after the welding is shown in Figure 3. For the purpose of easier
orientation, the test tubes have been marked in the following way: T (TIG procedure) -
number of the test tube; M (MIG procedure) number of the test tube.
a)
b)
Figure 3. a) Test tube welded by means of MIG procedure, b) Test tube welded by
means of TIG procedure
2.1 Machine and testing parameters

The procedure of quasi-dynamic testing has been performed on the universal
testing machine made by a Japanese manufacturer Shimadzu AGS-X, in the
ownership of the Mechanical Faculty in East Sarajevo. The key characteristics of the
machine [10] are: maximum capacity is 20 kN and maximum traverse movement
speed is 1600 mm/min. A significant characteristic is also the number of cycles, which
goes up to 1000, and that, basically, leads to a static testing. Due to the fact that the
testing of a welded joint with the force character change was performed, for the
purpose of this paper, and taking into account the fact that the change is performed
below 1000, the testing has been named a quasi-dynamic [11]. The preparation of
methods for the testing has been made in TrapeziumX software, which, at the same
time, enables the testing machine to be controlled from a computer. The test tube
placed in the machine before the testing is shown in Figure 4.
Figure 4. Test tube placed in the testing machine

369
For the force character change has been selected the case where, during the
entire test, the lower value of the force is constant while the maximum value has been
increased for 1000 N every time after 100 cycles. The lower value of the force is 50 N,
while for the beginning of the test the force of 3000 N has been selected. The way of
programming the machines in TrapeziumX software for such a case of the force
character change is shown in Figure 6. An important characteristic is also the speed of
the test itself, i.e. the force has been increasing and decreasing with the speed of 900
N/s.
Figure 5. The procedure for creating the method for quasi-dynamic testing
2.2 Analytical calculation of welded joints

In the first place, static calculation of welded joints has been presented
because the test can be considered to be static. In order to reach a value of force that
welded joint can convey to the yield, it is necessary to equalize the working w, zp and
critical stress w, S , zp and/or:
2 3 Kt Rp 0,2 F / (a (b 2a)) (1)
where is [11]:
Rp 0,2 120 N/mm2 stress at the yield point for aluminium alloy 6060
2 0,8 - weld quality factor (elected the low quality of the weld)
3 1 - factor type of load
Kt 1 - technological factor of the size of the cross section
Based of the measured dimensions of the welded joint, where the width of
the tube b 30 mm and the thickness of the weld a 4 mm, and form (1), reach the
value force which welded join can pass in static conditions. This value is F= 8448 N.
370

The exact value of the forces at the yield point obtained by experimental testing
for tubes marked with a T-1, T-2, M-1 and M-2, as well as the value of the force
obtained by analytical calculation are shown in table 2.
Table 2. The value of the forces at the yield point obtained by experimental testing and
analytical calculation
Analytical calculation
Value of the force [N] 8448
Experimental testing
Tube M-1 M-2 T-1 T-2
Value of the force [N] 6867 7224 5730 7050
For the test tubes marked as M-1 and M-2, welded by a welder-beginner in
accordance with MIG procedure, the force-deformation diagram is shown in Figure 6. It
can be clearly seen from the diagram that the maximum force the weld can handle is
about 7000 N, at the load which has been set previously. It is important to mention
here that both test tubes have endured only 120 cycles, i.e. 100 cycles with the change
of force of 50-1000-50 N and 20 cycles with the change of force of 50-2000-50 N.
Explanation regarding a term quasi-dynamic testing is obvious,since the diagram
shows that the force in the field of elastic deformation increases linearly, with the force
change previously mentioned.
Figure 6. a) Diagram force-deformation for test tube M-1; b) Diagram force-deformation

for test tube M-2
Force-deformation diagram for test tube marked as T-1 i T-2 with the nature of
the force change as in the previous case, is shown in Figure 7. Here it can be seen
that the force of the yield stress of the welded joint for both test tubes on average
about 6500 N. This value of force leads to the conclusion that despite of the fact that
the test patterns T-1 and T-2 have been welded by on experienced operator, the test
tubes welded by MIG procedure, due to easier handling and operating with the melting
electrode, and inspite of operators lack of experience, do not differ significantly in
capacity.
371
Figure 7. a) Diagram force-deformation for test tube T-1; b) Diagram force-deformation

for test tube T-2
Also, comparing the diagrams in Figure 7 and 8 may to be concluded that they
are very similar, in number of changes that have endured. The difference in the force
obtained experimentally and analytically can be attributed to the quasi dynamic load on
one hand, and testing error, on another.
All four test tubes which were examined cracked along the welded joint. The
cracks in a test tubes T-1 and T-2 are clearly visible as shown in Figure 8a, and the
cracks in test tubes M-1 and M-2 are visible, but in very small size. The difference in
the manner of the joining, as well as the quality of the welds between TIG and MIG
process, can be seen in Figure 8b.
For TIG welding process is clearly seen that the structure of the weld more
compact and it is a weld which was made by an experienced welder, while at the MIG
welding process the interruptions and lack of compactness can be seen, which in turn
can be attributed to inexperienced welders.
a) b)
Figure 8. a) Appearance of crack for test tube T-1 and T-2; b) Appearance of cross-
section destroyed weldment for MIG and TIG welding processes
372
4 CONCLUSION
This paper represents the procedure of quasydiynamic testing of welded joint,
and it clearly indicates what is meant by QUASIDYNAMIC examination and that it itself
tends to static test. The main advantage of quasdiynamic tests is that it gives a clearer
picture of the welded joint capacity, regarding the domain of small change load,
compared to static load. As a material for welded joint testing, aluminum alloy 6060
was selected. This alloy has been increasingly used because of its low weight and
good mechanical properties.
Testing was done on four test tubes, two welded with TIG welding procedure
and two welded with MIG welding procedure. It is very important to be noted that the
patterns welded by TIG process were performed by an experienced welder, while the
patterns welded by MIG process were performed by an beginner welder. In spite of the
previous results, this study shows that the MIG procedure is such that despite the
inexperience of an operator it gives satisfactory results regarding load capacity of
welded joints. Extra material used in performing MIG process is also better, however,
and this fact can be used in the determination that the capacity at MIG process is a bit
closer to analytical values, compared with the load measured during the pattern
analysis after the TIG process.
This study is basically an introduction to dynamic testing of welded joints and
gives a general picture of it, in fact, it highlights the importance of parameters for the
load capacity of the welded joint. This means that in future research, which will be
related to dynamic testing, care should be taken of the selection of the welding
process, the experience of the operator and the choice of filler material. The results
obtained by the research described here indicate that a better selection of welding
process leads to MIG welding procedure carried out by an experienced operator, as
well as the choice of filler material according to the recommendations defined in the
standards and specifications related to tests of welded joints, as well as
recommendations for performing MIG welding process.
REFERENCES
[1] Miltenovi, A. , Bani, M., Miltenovi. V. (2014). Role and importance of lightweight
design in the product development., 2 nd International scientific conference
COMETa 2014, Jahorina, BIH, 2nd 5th December 2015, pp. 529-538.
[2] uri, A., Markovi, B., Pelki, S. (2014). Osnovni principi i pravila primjene lakog
dizajna u mainstvu. 2nd International scientific conference COMETa 2014,
Jahorina, BIH, 2nd 5th December 2015, pp. 579-588.
[3] Vruini, G. (2008). Zavarivanje i zavarljivost aluminijuma I legura ,5. Seminar:
Aluminijum I aluminijumske legure-rukovanje, priprema i zavarivanj, Pula,
Hrvatska.
[4] Burzi, Z. (2002). Savaremene metode provere mehaniko-tehnolokih osobina
zavarenih spojeva-Deo 1, Zavarivanje I zavarene konstrukcije 2/2002, pp. 67-74.
[5] Babu, N., Karunakuran, N., Balasubramanian, V. (2015). Comparative Study of
Microstructure and Mechanical Properties of Fusion and Solid State Welded of
AA5059 Aluminium Alloy Joints, International Journal of Applied Engineering
Research, ISSN 0973-4562 Vol. 10 No.49, pp. 506-511.
[6] Pawar, M. S., Kukurani, V. V. (2015). Mechanical Characterization of Aluminium
Alloys for TIG Welding-Experimental and Modeling Studies, International
Research Journal of Engineering and Technology (IRJET), ISSN 2395 -0056, Vol.
02 No.02, pp. 1086-1089.
373
[7] He, C., Huang, C., Liu, Y., LI, J., Wang, Q. (2015). Effects of mechanical
heterogeneity on the tensile and fatigue behaviours in a laser-arc hybrid welded
aluminium alloy joint, Materials and Design 65, pp. 289-296.
[8] http://www.makeitfrom.com/material-properties/6060-AlMgSi-3.3206-A96060-
Aluminum/ , pristupljeno 17.09.2016.
[9] Miloti, M. (2008). Prirunik za zavarivae., Saobraajni fakultet Doboj, Univerzitet
u Istonom Sarajevo.
[10] uri, A. (2015). Doprinos razvoju lakih konstrukcija kroz istraivanje vrijednosti
faktora lakoe materijala, Master rad, Mainski fakultet Univerzitet u Istonom
Sarajevu.
[11] Gronostojski, Z., Polak, S. (2012). Quasi-static and dynamic deformation of
double-hat thin-walled elements of vehicle controlled body crushing zones joined
by clinching, Archives of Civil and Mechanical Engineering, Vo. 8, No. 2, 2008, pp.
5765.
[12] Miltenovi, V. (2009). Mainski elementi-oblici proraun primena, Mainski fakultet
Ni, Univerzitet u Niu.
374
________________________________________________________________________________________________
RENEWABLE ENERGY AND

ENVIRONMENTAL
_____________________________________________________________________________
OPTMIZACIJA POLIGENERACIONOG SISTEMA ZA ENERGETSKE

POTREBE ZATVORENIH PLIVAKIH BAZENA
Marko Mani1, Dragoljub ivkovi2, Milan orevi 3,Milena Jovanovi4,
Milena Raji 5
Rezime: Poligeneracioni sistem je energetski sistem sposoban da podmiri vie lokalnih

energetskih potreba zahvalujui visokom stepenu integracije procesa. U ovom radu je
prikazano odreivanje optimalne konfiguracije i snage tj. Kapaciteta poligeneracionog
sistema za potrebe zatvorenih plivakih bazena pomou TRNSYS i GenOpt softvera.
Razmatrani poligeneracioni moduli koji ine superstrukturu poligeneraconig sistema
su: kogeneracini modul zasnovan na motoru sa unutranjim sagorevanjem sa
pogonom na prirodni gas, gasni kotao, iler, toplotna pumpa voda-voda, solarni toplotni
kolektori, fotonaposnki solarni kolektori i akumulatori tople i hladne vode. Neto
sadanja vrednost investicionog projekta izrade definisanog poligeneracionog sistema
je koriena kao funkcija cila.
Kljune rijei: neto sadanja vrednost, optimizacija, poligeneracija, TRNSYS
OPTIMISATION OF A POLYGENERATION SYSTEM FOR THE ENERGY DEMANDS

OF AN INDOOR SWIMMING POOL
Abstract: A polygeneration system is an energy system capable of providing multiple
energy outputs for the local demands, by application of high process integration. In this
paper, optimal configuration and capacity of a polygeneration system for an indoor
swimming pool building is determined using TRNSYS and GenOpt software. Based on
the locally available resources, the following polygeneration modules were chosen for
the case study analysis: a natural gas fired internal combustion engine cogeneration
module, a natural gas gired boiler, a chiller, a water source heat pump, solar thermal
collectors , photovoltaic collectors and heat storage. The net present valueof the
polygeneration system construction project is used as goal function of the optimization
problem.
Key words: optimisation, net present value, optimisation, polygeneration,TRNSYS
1 MSc, Marko Mani, Mainski fakultet Univerziteta u Niu, Ni, Srbija, markomancic@masfak.ni.ac.rs (CA)
2
Prof. Dr Dragoljub ivkovi, Mainski fakultet Univerziteta u Niu, Ni, Srbija, dzivkovic@masfak.ni.ac.rs
3 MSc, Milan orevi, Fakultet tehnikih nauka Kosovska Mitrovica, milan.djordjevic@yahoo.com
4 MSc, Milena Jovanovi, Fakultet zatite na radu, Ni, Srbija, jovanovic.milena@znrfak.ni.ac.rs
5 MSc, Milena Raji, Mainski fakultet Univerziteta u Niu, Ni, Srbija, milenatod1@yahoo.com
375
Marko Mani, Dragoljub ivkovi, Milan orevi, Milena Jovanovi, Milena Raji
1 INTRODUCTION
Polygeneration can be defined as combined production of two or more energy
utilities by using a single integrated process [1]. The utility outputs of the
polygeneration system are typically energy outputs such as heating, cooling and
electricity (i.e. trigeneration), but also material products such as biofuels, water,
methanol or other compounds. The high level of integration of a polygeneration system
affects the complexity of the system itself, but it also improves overall system efficiency
thermodynamic, environmental and economic [2]. In order to meet the local final
energy demands, polygeneration systems can transform available energy of one or
more primary energy sources [3]. The term polygeneration in the context of a system
for providing multiple utilities, developed over time from the initially adopted term
cogeneration (combined heat and power), and trigeneration (combined heating,
power and cooling) proposed initially by the General Electric company [4]. Combined
production of heat and electricity was the first integrated process approach, for
utilization of heat available in the process of production of electricity, which would
otherwise be rejected to the environment. With further process integration, additional
local utility demands could be met by application of a single integrated polygeneration
system.
Optimisation methods typically do not account for potential for application of an
integrated energy system approach, neglecting heating and cooling demands and
focusing on electricity production. The integrated process approach of polygeneration,
combines all of the local utility demands (heating, cooling, electricity, mataherial and
other) with utilization of local resources and efficient utilization of renewable energy
sources. As a consequence, polygeneration systems are typically considered more
complex compared to conventional systems, with high dependency between locally
produced utilities. A polygeneration system consists of two or more polygeneration
modules: (1) A gas turbine or an internal combustion generator set typically used for
electricity and heat production, (2) Sorption cooling modules (adsorption or absorption)
applied to utilize heat to meet the cooling demands, (3) Bio-refineries applied to
combine processes of biomass or waste conversion to fuels, electricity and/or other
chemical compounds, (4) Vapor compression chillers applied to meet the cooling
demands taking advantage of locally produced electricity,(5) RES utilization
technologies which can be integrated with the rest of the system, and (6) Heat
storages.
This paper addresses the problem of pinpointing optimal configuration and
production capacity of a polygeneration system, by application of software annual
performance modeling approach embedded in TRNSYS software and Genopt
optimization. Different layouts of polygeneration systems are analyzed, by creating a
polygeneration system superstructure model. Solar energy, low temperature
geothermal energy and natural gas applications are considered in the system design
phase.
2 THE CASE STUDY OF AN INDOOR SWIMMING POOL

Indoor swimming pool buildings have large energy consumption. Here, the
greatest energy consumer is the Swimming Pool Hall (SPH) [5], where energy is used
for maintaining thermal comfort conditions in the hall and pool water (PW). The
breakdown of energy consumption in indoor swimming pool buildings shows that: 45%
of energy is used for swimming pool hall ventilation, 33% for heating PW, 10% for
heating and ventilation of the rest of the building, 9% for lighting and equipment and
376
Optimisation of a polygeneration system for the energy demands of an indoor swimming pool
3% for sanitary hot water (SHW) [5], but a detailed insight into the pool water and pool
hall loss has not been reported. The swimming pool hall together with the swimming
pools is the greatest energy consumer, and may account for up to 60% of the total
energy use of the pool building [5,6,7], therefore energy balance of the pool and pool
hall is modelled with more detail in this paper. In indoor swimming swimming pool hall,
air temperature and humidity are maintained at a predetermined level, as analyzed in
the paper. Pool water heating and air pool hall air heating using Heating, Ventilation
and Air Conditioning (HVAC) equipment increases water evaporation and relative air
humidity, which raises energy demands of the building. For the proper polygeneration
system performance evaluation, it is important to determine and model the energy
demands.
Main contributors to the energy losses of an indoor SPH are : Conduction
Qcond Qconv
through the pool walls ; Convection from the pool surface , Radiation from
Qrad Q Evap
the pool surface ; (4) Evaporation from the pool surface ; Heat loss due to
.
Q Q
fresh water flow fw for water loss compensation; Heat flow rate from heating aux .
The temperature change of swimming pool water over time can be
calculated as [8]:
Q aux Q fw Qevap Qconv Qrad

dT . .
wc pwV p
d (1)
2.1 Water evaporation from the swimming pool free water surface
Water evaporation rates from the pool water has significant impact on the air
conditioning loads of the SPH. Correlations for predicting water evaporation rate from a
free water surface to both still and moving air can be found in literature [9, 10,11,12,
13,14, 15, 16,17,18,19]. Bowen (1926) provided a general solution for determination of
heat transfer by convection and evaporation from a water surface of an element of
volume for three different conditions [16]. Most of the correlations are based on the
Dalton's theory, but there are also at-tempts of creating correlations based on analogy
between heat and mass transfer [12,16], where a ratio between heat loss by
conduction to heat loss by evaporation is deter-mined. Many evaporation models are
analyzed or reviewed in literature [12,13,14,15,16,17,18,19], but even for detailed
numerical simulations [17,21] it is necessary to first determine the evaporation rate
from the water surface and the evaporation rate coefficient. Experimentally obtained
correlations for predicting evaporation rates from a water surface of indoor and outdoor
swimming pools, as well as ponds, lakes etc. are a function of air velocity above the
water surface [12]. Apart from the air velocity, the nature of air flow over the water
surface in indoor swimming pools has a strong influence on evaporation, which is
determined by the value of Reynolds number and Sherwood numbers [20]. The first
equation of evaporation from free water surface was given by Dalton (1802) [11], when
it was found to be proportional to the partial pressure difference of water vapor near
the boundary surface p sw and away from the surface :
dE K psw pv df sw (2)
Where df sw is an element of evaporation surface, dE is evaporation rate per

unit time, and K is a coefficient affected by properties of air flow over the boundary
377
water surface. Evaporation rate can also be determined according to Lewis as:
dE K E xsw x df sw (3)
Here, K E is the evaporation rate coefficient given in (kg/s m 2), which is again
affected by the properties of air flow over the boundary water surface. It is usually
given as a linear function of air velocity in a general form:
K A BVa (4)
Where, Va is the velocity of air above the free water sur-face, A and B are
correlation constants. Values of this coefficient from literature is given in Tab 1.
Table 1. Correlation coefficients found in literature

Author Correlation coefficients of eq. (3) Application
McMilan A=0.0360; B=0.250 Lakes
Chernecky A=0.05053; B=0.06638 swimming pools
Carrier A=0.088403; B=0.001296 Solar Pond
Hahne and Kbler A=0.0850 B=0.0508 Outdoor swimming pools
Rohwer A=0.0803; B=0.0583 Laboratory model
Smith et. Al. A=0.0888; B=0.0583 Swimming pool
Smith et. Al. A=0.0638; B=0.0669 Outdoor swimming pool
Himus and Hinchey A=0.1538; B=0.06898 General
Lurie and Michailoff A=0.109; B=0.0859 General
A review and comparison of mathematical models for predicting evaporation

rates by Sartori [12], indicated a large scattering of results obtained using investigated
litera-ture correlation models. Here, it is also indicated that some of the models neglect
the impact of relative humidity of the air, and might be discarded as such. Sartori
provided a correlation model, where evaporation is a coefficient of air velocity to the
power of 0.8, and length of the water surface, instead of actual water surface. Shah
proposed a model where evaporation rate coefficient equals to 0.00005 [18,19].
Asdrubali at al, determined values of the correlation coefficients for air velocity values
of 0.05 m/s, 0.08m/s and 0.17 m/s, based on results from a laboratory indoor
swimming pool scale model [5].
For the simulation of this effect, in this paper, indoor swimming pool building
energy demand was modelled in TRNSYS software, as described in [8]. The
correlation for predicting evaporation rate coefficient from the indoor swimming pool
surfaces is apriximated according to the measured results on a real inddor swimming
pool [22] according to the equation:
K 1.636585(0.000085643Va 0.66206089)1.1945. (5)
The mathematical model of the swimming pool presented in [8] was used for
simulating energy demands of the indoor swimming pool building in this paper, to
determine annual behaviour of the energy demands of the SPH building. Partial
pressure of saturated vapor is calculated as a function of temperature in the simulation
[23]. The simulation was done with Meteonorm hourly weather data, which included
mains water temperature used for fresh water supply. Occupancy factor of the
swimming pool is calculated as [18]:
378
Amax
F (6)
Ap / N
Where N is the number of occupants, and Amax is the pool area per person at
maximum pool occupancy. daily and monthly changes of the occupancy factor F, are
modelled using TRNSYS Type 14. Evaporation rate of unoccupied swimming E pool
is multiplied by a linear function of the occupancy factor F , to obtain the evaporation
E0
rate of the occupied swimming pool [18]:
E 3.3F 1 , F 0.1

E0 ;
E 1.3F 1.2 ,0.1 F 1
(7)
2.2 Modeling and simulation of the polygeneration system

The polygeneration system superstructure is coupled to the energy demand
model of the swimming pool, so that it is capable of providing heating, cooling
demands and SWH heating demands. The modelled polygeneration system
superstructure has a modular structure, where each of the modules based on
polygeneration technologies can contribute to one or more polygeneration energy
outputs. Analysis included the following polygeneration modules (figure 1): (1) Photo
Voltaic (PV) array, (2) a ground source heat pump (GSHP), (3) Solar thermal collector
array (STC), (4) hot water fired adsorption chiller (ADSC), (5) a gas fired cogeneration
module based on an internal combustion engine generator set (CHP), (6) a gas fired
boiler for backup/peak loads (B),(7) vapor compression chiller (VCC), (8) hot water
storage tank (HWST), and (9) cold water storage tank (CWST).Total nominal
polygeneration system capacity for heating Ph, poly, cooling Pc,poly and electricity
production Pe,poly is equal to the sum of the nominal capacities for heating, cooling and
electricity production of its constituting modules, respectfully. The total estimated
available area of 3000 m 2 available for installation of solar collectors is set as total
maximum area for both solar thermal collectors (STC) and photovoltaics (PV).
Ph,POLY Ph,B Ph,BCHP Ph,GSHP Ph,STC Ph, AUX . (8)
Pc, POLY Pc,GSHP Pc,VCC Pc, ADS . (9)
Pe, POLY Pe,CHP Pe, PV (10)

Behaviour of the polygeneration part of modules was modelled using
equipment normalized performance data which can be found in literature for the
cogeneration based on internal combustion engines [24,27,28], solar sorption
integration [29,30,31],vapour compression heat pump [32,33], photovoltaics [34,35,36].
The rest of the polygeneration modules are based on the manufacturer performance
data: solar thermal collectors [36], vapor compression chillers [37]. Annual energetic
performance of the of each of the modules constituting the polygeneration system
takes into account part load performance, module efficiency or coefficient performance
which also correspond to the inlet and outlet temperature of each of the modules at
simulation time step i.
Qh ,r Qc ,r
Reduction of consumed energy for heating , cooling achievable by
379
application of the polygeneration system, compared to the conventional, installed

system, can be calculated according to eq. 10:
Qh,r Qc, POLY Qh,a
. (11)
Qc,r Qc, POLY Qc,a
(12)
It is assumed that the complete local production of electricity by the
poligeneration system is transferred to the national power supply grid, when the profit
of sales of electricity is achieved with respect to the current feed-in tariff system for
Serbia [26,27].
2.3 Optimization of the polygeneration system

In this paper, optimization of the configuration and nominal capacity of the
polygeneration system for the demands of the public indoor swimming pool building is
performed based on economic, energetic and environmental criteria. Configuration is
defined by the modules constituting the polygeneration system, whereas the nominal
capacity is defined by the sum of the nominal heating, cooling and electricity
production capacities of the modules constituting the polygeneration system. The
optimal polygeneration system configuration is defined by the constituting components
whose nominal power is greater than zero, whereas the production capacity is defined
by the sum of its constituting components. The capacities of the solar thermal and
photovoltaic systems are limited by the actual available rooftop space for mounting
such systems. Application of a highly integrated polygeneration system can require
high initial capital investement. As such, decision makers are likely to be most
interested in the economic performance of such an investment. NPV value of the
polygeneration project was used as criteria of economic optimization. Project economic
lifetime of 12 years which corresponds to the duration of the period of exploitation of
the contract for subsidy electricity export [25,26], was adopted in the analysis. The
maximum vaef NPV is used as goal function for optimization, calculated as function of
Bo
the initial capital investment . assumed to take place in the year of implementation
B
(i.e. year 0), the dynamic cash flow defined by the value of total annual savings t of
the polygeneration configuration in the given optimization step n, in the year
t 1, 2, 312 d:
. , and the discount rate

12
NPVn Bo Bt / 1 d t (13)
0
A general representation of the initial capital investment for the polygeneration

module is presented in eq. 14.
C pK PK 1 Csc , for K CHP,VCC , GSHP, ADSC , HWST , CWST , PV

IK (14)

C pK
AK 1 C sc , for K STC
C pK Csc , (Csc 1)
Where [/kW] is the specific equipment purchase factor, and is the
system integration costs given as fraction of the equipment purchase cost. The value
C pK
can be found in literature. Specific equipment purchase costs are approximated
380
according to literature data, where equipment costs are converted to the present
values using the equipment cost index factors [38,39].
2.4 Optimisation results
The results presented in this paper are obtained using Trnsys simulation
system performance simulation coupled to Genopt Hybrid General Pattern Search with
Particle Swarm Optimization method [94].. The optimisaitons summary of the results of
the optimisation is depicted by the diagram in presented in fig. 1. The optimisaiton
algorytm conferged to the problem solution after 687 optimisation steps. The optimal
confituration of the polygeneration system consists of a cogeneration internal
combustion engine unit, an adsorption chiller, photovoltaics and appropriate heat
storages for both cooling and heating.
Fig. 1. Optimisation results
With the NPV value of the polygeneration system investment project over its 12
year operation lifetime, the optimisation method pinpointed the configuration consisting
of modules which have the greatest contribution to project profitability, i.e. a
kogeneration unit and photovoltaics. With the significant heating demands of the
chosen indoor swimming pool building [8], the cogeneration module supplies heat
throughout a year. Heat demand in the analysed scenario is even higher in the
summertime with the optimal polygeneration configuration, since adsorption cooling is
used to meet cooling loads, powered by the locally provided heat. Due to limited area
for solar collectors, where profitability of solar thermal collectors and photovoltaics is
confronted, with the NPV as the optimization criteria, the optimization algorytm
assigned the complete available area to the photovoltaics, leaving no place for solar
thermal applications under the given conditions and criteria.The nominal power rating
and heating and cooling capacity of the optimal configuration of the polygeneraiton
system is determined by the power ratings and heating and cooling capacities of its
constituting component modules. Although a gas boiler is assumed by the model for
eventual peak load coveridge, based on the optimization results, it is clear that the
optimal polygeneration system is capable of meeting the design heating and cooling
load without the use od any additional peak load equipment. The heating capacity of
the cogeneratin module is equal to the design load of the building heating system, and
381
cooling capacity of the adsorption unit is equal to the design load for cooling of the
building cooling system. It is important to note, that the design loads were used to
define the optimization variable domains for variables representing heating and cooling
capacities. The power rating of the polygeneratin system was not limited by the
optimization model to improve project profitability by export of electricity takeing
advantage of the subsidy export prices.
3 CONCLUSION
In this paper, optimisation of a pollygeneration system for energy demands of
an indoor swimming pool building was performed. Modeling and simulation of the
performance of the building's energy demands and performance of the polygeneration
model superstructure was done using TRNSYS software, whereas GenOpt
optimisation is applied to pinpoint the optimal soultion. The optimal configuration of the
polygeneration system was found to consists of a cogeneration internal combustion
engine based module, adsorption chiller, photovoltaics and accompaning heat and cold
storages. The NPV function was used as goal of the optimisation, and the model
asumes that the entire local production of electricity is exported to the grid, thus
enabling project profit in addition to the potential energy savings. The optimal heating
and cooling capacity of the poligeneraiton system was equal to the design loads. The
optimal solution indicates that the entire available area for solar collectors should be
coverd by PV.
ACGNOWLEDGEMENT
This paper was done within the framework of the project III 42006 - Research
and development of energy and environmentally highly effective polygeneration
systems based on using renewable energy sources (2011-2014), financed by the
Ministry of Education, Science and Technological Development of the Republic of
Serbia.
NOMENCLATURE
ADS Adsorption chillier K evaporation coefficient, a superstructure
module
AUX Electrical auxiliary heaters POLY polygeneration system
B - Boiler PV Photovoltaic collector array system
CHP - Cogeneration, biogas cogeneration STC solar thermal collector array
E Evaporation rate SPH swimming pool hall
F occupancy factor Va air velocity
GSHPGround source heat pump VCC vapour compression chiller
I - Investment B cost rate
REFERENCES
[1] A. R. Risto Lahdelma, Role of polygeneration in sustainable energy system
development challenges and opportunities from optimization viewpoints,
Renewable and Sustainable Energy Reviews 53, p. 363372, 2016.
[2] K. J. Sudipta De, Sustainable polygeneration design and assessment through
combined thermodynamic, economic and environmental analysis, Energy 91, p.
540e555, 2015.
382
[3] E. U. Khan and A. R. Martin, Optimization of hybrid renewable energy

polygeneration system with membrane distillation for rural households in
Bangladesh, Energy 93, p. 11161127, 2015.
[4] T. A. Adams and J. H. Ghouse, Polygeneration of fuels and chemicals, Current
Opinion in Chemical Engineering, Vol. 10, p. 8793, 2015.
[5] E. Trianti-Stourna, K. Spyropoulou,, C Theofylaktos, K. Droutsa, C.A. Balaras, M.
Santamouris, D.N. Asimakopoulos, Lazaropoulou, G. Lazaropoulou, N. ,
Papanikolaou, Energy conservation strategies for sports centers:part B . swimming
pools, Energy and Buildings 27 ( 1998), pp123-135
[6] F. Asdrubali, A scale model to evaluate evaporation from indoor swimming pools,
Energy and Buildings41 (2009) 311-319.
[7] E. Hahne, R. Kbler, Monitoring and simulation of the thermal performance of solar
heated outdoor swimming pools, Solar Energy, 53, (1994) 1, pp. 9-19
[8] M. Mani, D. ivkovi, P. Milosavljevi, M. Todorovi, Mathematical Modelling and
Simulation of the Thermal Performance of a Solar Heated Indoor Swimming Pool,
Thermal Science Vol. 18, No. 3, 2014, pp 999-1010
[9] ASHRAE HVAC Application Handbook, Atlanta, GA. 1999.
[10] T. Auer, Assessment of an indoor or outdoor swimming pool, TRNSYS-TYPE 144,
Transsolar, Energietechnik GMBH, 1996.
[11] J. Dalton, Experimental essays on the constitution of mixed gases; on the force of
steam or vapor from water and other liquids in different temperatures, both in a
Torricellian vacuum and in air; on evaporation on the expansion of gasses by heat.
Mem. Manchester Liter. And Phil. Soc. 5-11, 535-606, 1802
[12] E. Sartori, A critical review on equations employed for the calculation of the
evaporation rate from free water surfaces, Solar Energy 68, (2000) 1, pp. 7789
[13] E. Ruiz, Martinez P. J., Analysis of an open-air swimming pool solar heating
system by using an experimentally validated TRNSYS model, Solar Energy 84
(2010) 116-123
[14] R. Tang, Y. Etzion, Comparative studies on the water evaporation rate from a
wetted surface and that from a free water surface, Building and Environment 39
(2004) pp. 77-86
[15] C.C. Smith, G. Lof, R. Jones, Measurement and analysis of evaporation from an
inactive outdoor swimming pool, Solar Energy 53 (1994) 1, pp 3-7
[16] I.S. Bowen, The ratio of heat losses by conduction and by evaporation from any
water surface, Physical Review 27, (1926), pp. 779-787
[17] Li Y. Heiselberg , CFD Simulations for Water Evaporation and Airflow Movement in
Swimming Baths, Report for the project "Optimization of Ventilation System in
Swimming Bath", Aalborg University, 2005, Denmark
[18] M. Shah, Prediction of evaporation from occupied indoor swimming pools, Energy
and Buildings, 35 (2003), pp. 707-713
[19] M. Shah, Improved method for calculating evaporation from indoor water pools,
Energy and Buildings, 49 (2012) pp. 306-309
[20] M. Moghiman, A. Jodat, Effect of air velocity on water evaporation rate in indoor
swimming pools, Iranian Journal of Mechanical Engineering 8 (2007) (in press).
[21] N.A. Vinnichenko, A. V. Uvarov, D.A. Vetukov, Y. Y. Plaksina, Direct computation
of evaporation rate at the surface of swimming pool, in Recent research in
mechanics - Proceedings of the 2nd international conference on fluid mechanics
and heat and mass transfe, Corfu island, Greece, 2011,
[22] M.Mani, D.. ivkovi and M. Todorovi, Mathematical models for evaluating
evaporation rates from free water surface of indoor swimming pools, XII
383
International SAUM Conference on Systems, Automatic Control and

Measurements Ni, Serbia, November 12th-14th, 2014. pp 41-44
[23] Tetens, O., Uber einige meteorologische Begriffe (eng. About some meteorological
terms), Zeitschrift fur Geophysik, 6 (1930), pp. 297
[24] M. E. H. Eman A. Tora, Integrated conceptual design of solar-assisted
trigeneration systems, Computers and Chemical Engineering, vol. 35, pp. 1807-
1814, 2011.
[25] Uredba o uslovima i postupku sticanja statusa povlaenog proizvoaa elektrine
energije, na osnovu lana 56 zakona o energetici.: Slubeniglasnik RS, br. 57/11,
80/11 - ispravka 93/12 i 124/12.
[26] Uredba o merama podsticaja za povlaene proizvoae elektrine energije, na
osnovu lana 59. stav 6, Zakona o energetici.: Slubeni glasnik RS, br. 57/11,
80/11 - ispravka 93/12 i 124/12.
[27] Hycienth I. Onovwiona, V. Ismet Ugursal, Alan S. Fung, Modeling of internal
combustion engine based cogeneration systems for residential applications. 2007,
Applied Thermal Engineering, Vol. 27, pp. 848-861.
[28] L. Fu, X.L. Zhao, S.G. Zhang, Y. Jiang, H. Li, W.W. Yang. Laboratory research on
combined cooling, heating and power (CCHP) systems. 2009, Energy Conversion
and Management, Vol. 50, pp. 977-982.
[29] B. Pastakkaya, N. Yamankaradeniz, O. Kaynakli, S. Coskun, Experimental
analysis of a solar absorption system with interior energy storage., Recep
Yamanakaradeniz. 2, 2012, Journal of Energy in Southern Africa, Vol. 23, pp. 39-
49.
[30] S. Thomas, P. Andr, Numerical simulation and performance assessment of an
absorption solar air-conditioning system coupled with an office building.. 2012,
Building Simulation, Vol. 5, pp. 243-255.
[31] H.H. Zohair, Performance Evaluation of a Continuous Operation Adsorption Chiller
Powered by Solar Energy Using Silica Gel and Water as the Working Pair.. 2014,
Energies, Vol. 7, pp. 6382-6400.
[32] Carsen J. Banister, William R. Wagar, Prof. Michael R. Collins, Validation of a
single tank, multi-mode solar-assisted heat pump TRNSYS model. 2014, Energy
Procedia, Vol. 48, pp. 499-504.
[33] N. Aste, R.S. Adhikari, M. Manfren, Cost optimal analysis of heat pump technology
adoption in residential reference buildings.. 2013, Renewable Energy, Vol. 60, pp.
615-624.
[34] D. L. King, W. E. Boyson, J. A. Kratochvil. Photovoltaic array performance model.
Albuquerque, New Mexico 87185-0752: Sandia National Laboratories, 2003.
[35] E. Skoplaki, J.A. Palyvos , Operating temperature of photovoltaic modules: A
survey of pertinent correlations.. 2009, Renewable Energy, Vol. 34, pp. 23-29.
[36] Viessmann. Solar Thermal Systems Technical Guide. D-35107 Allendorf :
Viessmann Werke, 2009.
[37] Wesper. Technical Brochure TM VLH-W.3GB. 17800 Pons, France : Wesper
S.A.S., 2005.
[38] A. Petrovi, M. Jari, N. Budimir, D. Vasovi, M. Stankovi, N. Stefanovi. Procena
usluga u planiranju i izgradnji. Belgrade: ETA, 2009.
[39] B.T. Yee, S. G. Runner, M Steel, J. E. Horton, J. Chiang. Equipment and fixtures
index, percent good and valuation factors, assessors' HANDB: Marshall &
Swift/Boeckh, LLC and the U.S. Bureau of Labor Statistics, 2014.
[40] M. Witter, GenOpt, Generic Optimization Program, Barkley, CA94720: Lawrence
Barkley National Laboratory, 2011.
384
_____________________________________________________________________________
KVALITET ZRAKA U GRADU ZENICI U 2015. GODINI

Sulejman Muhamedagi1, Mirsada Oru2,Halim Prcanovi3, Jusuf Bori4
Rezime: Zrak se smatra zagaenim ako sadrava tvari u koncentracijama veih od

propisanih standardom, koje izazivaju tetne posljedice po zdravlje ljudi, ivotinja i
biljaka i nanose tetu okoliu. Lokalno zagaivanje zraka vezano je za gradove i velike
industrijske kompanije. Pojava i uestalost poveanih koncentracija zagaujuih
materija u zraku prvenstveno ovisi o veliini i distribuciji izvora emisije, o lokalnoj
topografiji i klimatskim uvjetima (smjer i brzina vjetra, pojava padavina i temperaturnih
inverzija). U gradu Zenici vie od 120 godina se proizvodi elik. Dugogodinjim
kontinuiranim mjerenjima utvren je visok stepen zagaenosti zraka: prainom,
sumpor dioksidom, organskim materijama, tekim metalima i dr. U ovom radu su
predstavljeni rezultati mjerenja i praenja koncentracije sumpor dioksida, lebdeih
estica u zraku grada Zenice, koliine talonog praha te sadraj olova, kadmija, eljeza
i cinka u talonom prahu u toku rada integralne eljezare za 2015.godinu.
Kljune rijei: koncentracija, sumpor dioksid, taloni prah, eljezara
AIR QUALITY IN ZENICA IN 2015

Abstract: The air is considered contaminated if it contains substances at
concentrations higher of prescribed standards, that cause adverse effects on human
health, animals and plants, and damaging the environment. Local air pollution is linked
to cities and large industrial companies. The occurrence and frequency of increased
concentration of pollutants in the air primarily depends on the size and distribution of
the emission source, the local topography and the climatic conditions (wind direction
and speed, the occurrence of rainfall and temperature inversions).
Steel has been produced is the city of Zenica for more than 120 years. After many
years of continuous measurements indicated a high level of air pollution: dust, sulfur
dioxide, organic matter, heavy metals and others. This paper presents the results of
measuring and monitoring the concentration of sulfur dioxide, particulate matter in the
air of the city of Zenica, such as amounts of precipitated powder and the content of
1 dr Sulejman Muhamedagi, Univerzitet u Zenici, Fakultet za metalurgiju i materijale Zenica,

Bosna i Hercegovina, sulejman48@bih.net.ba (CA)
2 dr Mirsada Oru, Univerzitet u Zenici, Fakultet za metalurgiju i materijale Zenica, Bosna i
Hercegovina, mirsada.oruc@unze.ba
3 mr.sc Halim Prcanovi, Metalurki institut Kemal Kapetanovi, Zenica, Bosna i Hercegovina,
halim.p@bih.net.ba
4 mr.sc Jusuf Bori, JKP Zenicatrans prevoz putnika, d.d.Zenica, ze-trans@miz.ba
385
Sulejman Muhamedagi, Mirsada Oru, Halim Prcanovi, Jusuf Bori
lead, cadmium, iron, and zinc, in the precipitation of dust during operation of integrated
ironworks for 2015.
Keywords: concentration, precipitated powder, steel mills, sulfur dioxide
1 UVOD
Grad Zenica je smjeten u kotlini duine oko 12 km, i irine 1 do 1,8 km.
Nadmorska visina dna kotline kree se od 304 m na sjeveru do 340 m na jugu. Okolna
uzvienja spadaju u srednje visoke planine Bosne i Hercegovine, apsolutne visine do
1000 m.
U tehnolokim fazama proizvodnje i prerade elika odvijaju se termodinamiki
procesi, gdje nastaju odreene koliine dimnih plinova koji sadre emisije polutanata i
utiu na zagaenost zraka u Zenici.
Posebno nepovoljni uslovi su u danima stabilnog stanja atmosfere s
temperaturnim inverzijama u zimskom periodu, kada se polutanti nagomilavaju u
prizemnom sloju i u kratkom roku dostiu alarmantno visoke koncentracije i tako se
odravaju dok ne doe do promjene vremenske situacije.
Zagaivai prenoeni vjetrom i turbulencijom mogu pretrpjeti razliite hemijske
transformacije prije nego to se spuste na tlo, te je stoga je potrebno poznavati zrana
strujanja.
Kako su isputeni zagaivai topliji nego zrak koji ih okruuje, oni se diu
visoko u atmosferu i turbulencija zraka ini da se koncentracije razrjeuju. Poto se
kreu s vjetrom, esto dolazi do hemijskih reakcija izmeu zagaivaa i drugih
atmosferskih materija.
Zagaeni zrak utie na razliite naine na zdravlje ljudi i ljudsko blagostanje,
kao i na ekosisteme i materijalna dobra. Pojava i uestalost poveanih koncentracija
zagaujuih materija u atmosferi prvenstveno ovisi o veliini i distribuciji izvora emisije,
o lokalnoj topografiji i lokalnim klimatskim uvjetima (smjer i brzina vjetra, pojava
padavina i temperaturnih inverzija).
Zagaenje zraka ovisi prvenstveno od koliine i tipa polutanata, duine
izlaganja i drugim efektima povezanim sa izlaganjem zagaenom zraku.
Prainu ine vrste lebdee estice dispergovane u plinovima. O veliini estica ovisi
brzina taloenja praine na povrinu. Prainu raznose vjetrovi i globalno strujanje
atmosfere.
Zrak u zenikoj kotlini je zagaen sumpornim dioksidom, lebdeim esticama,
zatim velikim koliinama talonog praha sa visokim sadrajem olova, kadmija, cinka i
drugih tekih metala, kao i tetnim organskim materijama koji pogoravaju kvalitet
zraka.
Polutanti iz atmosfere nagomilavaju se na povrini tla, u blizini samog izvora ili
mogu biti preneseni na velike udaljenosti od izvora. Zagaivai tla su eljezare,
termoelektrane, koksare, cementare itd. [1].
2 MONITORING I KRITERIJI ZA OCJENU ZAGAENOSTI ZRAKA

Kontinuirana merenja zagaenosti zraka u Zenici egzistiraju od 1974. godine
na Hidrometeorolokoj stanici Zenica, a nekoliko godina kasnije Metalurki institut
Kemal Kapetanovi Zenica je uveo kontinuirana merenja na vie mjesta u zenikoj
kotlini.
Dugogodinjim kontinuiranim merenjima kvaliteta zraka u Zenici je utvren
visok stepen zagaenosti sa sumpornim dioksidom, lebdeim esticama, te velikim
386
Kvalitet zraka u gradu Zenici u 2015. godini
koliinama talonog praha sa visokim sadrajem olova, kadmija, cinka i drugih tekih
metala kao i prisustvo tetnih organskih materija.
Izmjerene koncentracije polutanata uporeene su sa graninim vrijednostima koje su
date u Pravilniku o nainu vrenja monitoringa kvaliteta zraka i definisanju vrste
zagaujuih materija, graninih vrijednosti i drugih standarda kvaliteta zraka
("Sl.novine FBiH", br. 01/12):
Granina vrijednost prema Pravilniku za godinji prosjek koncentracija
sumpornog dioksida je 50 g/m 3 s tim da dnevni prosjek od 125 g/m 3 ne
smije biti prekoraen vie od 3 puta (tri dana) u jednoj kalendarskoj godini.
Granina vrijednost za godinji prosjek koliina talonog praha je 200
mg/m2. dan, s tim da mjeseni prosjek od 350 mg/m 2.dan ne smije biti
prekoraen nijedan mjesec u jednoj kalendarskoj godini,
Granina vrijednost za godinji prosjek koncentracija ukupnih lebdeih
estica je 90 g/m3 s tim da dnevni prosjek od 250 g/m3 ne smije biti
prekoraen nijedan dan u toku jedne kalendarske godine,
Granina vrijednost za godinji prosjek sadraja olova u talonom prahu je
0,1 mg/m2. dan,
Granina vrijednost za godinji prosjek sadraja kadmija u talonom prahu
je 0,002 mg/m2. dan,
Granina vrijednost za godinji prosjek sadraja cinka u talonom prahu je
0,4 mg/m2. dan.
U navedenom Pravilniku ne postoje granine vrijednosti sadraja olova i kadmija u
ukupnim lebdeim esticama, pa su u ovom izvjetaju koritene granine vrijednosti iz
ranijeg Pravilnika (Sl. novine FBiH, broj 12/05), radi poreenja rezultata mjerenja sa
prethodnim godinama, i one iznose:
Granina vrijednost za godinji prosjek sadraja olova u ukupnim lebdeim
esticama je 2 g/m3
Granina vrijednost za godinji prosjek sadraja kadmija u ukupnim
lebdeim esticama je 40 ng/m 3 (nanograma po kubnom metru zraka) [2,3].
3 PROIZVODNI PARAMETRI ELJEZARE ZENICA

Poto u gradu Zenica, eljezara predstavlja jednog od glavnih zagaivaa
okoline to e se dati neki od bitnih parametara koji utiu na zagaenje a vezani su za
proizvodni proces same eljezare.
eljezara Zenica, tj. ArcelorMitall Zenica predstavlja tipinog integralnog
proizvoaa elika sa svim fazama proizvodnje (koksa, aglomerata, gvoa, elika,
tehnolokih energenata) i prerade elika u finalne proizvode.
U procesu proizvodnje i prerade elika troe se velike koliine mineralnih
sirovina i svih vrsta goriva. Veina procesa u integralnoj eljezari bazira se na
spaljivanju i termohemijskoj transformaciji mineralnih sirovina, zraka i goriva na
povienim temperaturama.
387
Pored osnovnih proizvoda nastaju odreene koliine nus-proizvoda u vrstom,

tenom i plinovitom stanju. U tabeli 1. dati su osnovni parametri proizvodnje kao i
potronje uglja u eljezari, za 2015. godinu [6].
Tabela 1: Proizvodni parametri [6]

Parametri Jedinica mjere 2015. godina
Proizvodnja:
Aglomerata t/g 1.341.839
Gvoa t/g 860.430
Koksa t/g 406.081
elika t/g 815.354
Valjani proizvoda t/g 612.587
Potronja uglja:
Koksujui t/g 519.783
Energetski t/g 169.210
4 DISKUSIJA REZULTATA
U ovom radu su analizirani rezultati kontunuiranih mjerenja koncentracija
sumpornog dioksida (SO2), ukupnih lebdeih estica (UL) u zraku (24-satni uzorci) i
sadraj olova, kadmija i eljeza u lebdeim esticama, u zenikoj kotlini za 2015.
godinu.
Podaci su uzeti iz Izvjetaja broj 11/16-EKO, Zenica, mart 2016. Rezultati
kontinuiranih mjerenja zagaenosti zraka u Zenici za 2015. godinu, Metalurki
instituta, Zenica.
Izmjerene koncentracije polutanata uporeene su sa graninim vrijednostima
koje su date u Pravilniku o nainu vrenja monitoringa kvaliteta zraka i definiranju vrste
zagaujuih materija, graninih vrijednosti i drugih standarda kvaliteta zraka
("Sl.novine FBiH", br. 01/12).
Na slici 1. ematski je prikazan pregled rasporeda fiksnih-stacionarnih mjernih
stanica u irem podruju grada Zenice za mjerenje kvaliteta zraka [7].
388
Slika 1. Raspored fiksnih-stacionarnih mjernih stanica [7]
U tabelama 2, 3 i 4. dati su osnovni parametri koncentracija sumpor dioksida u

zraku, u 2015-oj godini na tri mjerna mjesta [7].
Tabela 2. Godinji prosjek koncentracija SO2 (24-satni uzorci) [7]

Mjerno Broj uzoraka Godinji Granina Ocjena.
mjesto prosjek, vrijednost,
(g/m3) (g/m3)
Institut 365 150 50 Ne zadovoljava
Crkvice 365 136 Ne zadovoljava
Tetovo 365 155 Ne zadovoljava
Tabela 3. Broj prekoraenja dnevnih koncentracija SO2 [7]

Mjerno mjesto Broj uzoraka Dozvoljeni Broj dana Ocjena.
dnevni prosjek* prekoraenja
(g/m3),
*Ne smije se prekoraiti vie od tri puta u toku kalendarske godine
Tabela 4. Maksimalne koncentracije SO2 [7]

Mjerno mjesto Broj Maksimalni dnevni Granina Ocjena.
uzoraka prosjek, (g/m3), vrijednost,
(g/m3)
Institut 365 608 600* Ne zadovoljava
*Stara norma
389
U tabelama 5, 6 i 7. dati su osnovni parametri koncentracija ukupnih lebdeih

estica (UL) u zraku, u 2015. godini na dva mjerna mjesta [7].
Tabela 5. Godinji prosjek koncentracija ukupnih lebdeih estica (24-satni-uzorci) [7]

Mjerno Broj Godinji Granina Ocjena
mjesto uzoraka prosjek, (g/m3) vrijednost,
(g/m3)
Tabela 6. Broj prekoraenja dnevnih koncentracija ukupnih lebdeih estica [7]

Mjerno Broj uzoraka Dozvoljeni dnevni Broj dana Ocjena
mjesto prosjek* (g/m3) prekoraenja
*Ne smije biti prekoraenja u toku kalendarske godine
Tabela 7. Maksimalna koncentracija ukupnih lebdeih estica [7]

Mjerno mjesto Broj uzoraka Maksimalni dnevni Granina Ocjena
prosjek, (g/m3) vrijednost,
(g/m3)
Institut 365 843 600* Ne zadovoljava
*Stara norma
U tabeli 8. dati su osnovni parametri koncentracija: sadraj olova, kadmija i

eljeza u ukupnim lebdeim esticama u zraku, u 2015. godini na dva mjerna mjesta
[7].
Tabela 8. Sadraj olova, kadmija i eljeza u lebdeim esticama [7]

Mjerno mjesto Olovo, (g/m3) Kadmij, (ng/m3) eljezo,(g/m3)
Institut 0,05 9,94 5,06
Tetovo 0,09 11,43 12,04
Dozvoljena prosjena 2* 40* -
godinja vrijednost
*Dozvoljene prosjene godinje vrijednosti uzete su iz ranijeg Pravilnika za granine
vrijednosti kvaliteta zraka (Sl.novine FbiH, br. 12/05).
U tabeli 9. dati su osnovni parametri koliine talonog praha, sadraj olova,

kadmija, eljeza i cinka u talonom prahu u 2015. godini na 13 mjernih mjesta [7].
390
Tabela 9. Koliine talonog praha, sadraj olova, kadmija, eljeza i cinka u talonom
prahu [7]
Mjerno mjesto Taloni prah Olovo Kadmij eljezo Cink
Prosjek Maksimu Prosjek Prosjek Prosjek Prosjek
, m mg/m2.d mg/m2.d mg/m2.d mg/m2.d
mg/m2. mg/m2.d
d
Institut 346 506 0,062 0,0024 55,64 0,866
Centar 395 636 0,0628 0,0039 22,96 0,762
Raspotoje 317 732 0,028 0,0028 56,82 0,561
Lukovo polje 265 435 0,026 0,0031 41,68 0,388
Perin Han 210 319 0,042 0,0009 24,67 0,469
Crkvice 155 267 0,011 0,0009 15,44 0,359
Kamberovie polje 402 776 0,022 0,0034 144,67 0,627
Pehare 463 811 0,051 0,0042 121,18 0,565
Riice 478 810 0,054 0,0111 83,67 0,766
D.Graanica 355 468 0,062 0,0034 87,19 0,885
Banlozi 627 1260 0,141 0,0058 276,36 1,363
Tetovo 718 1099 0,181 0,0077 145,31 2,271
Tetovo 2 785 1165 0,189 0,0071 161,93 2,233
Norma (period
200 350 0,1 0,002 - 0,4
godina)
Napomena: Boldirani brojevi ukazuju na prekoraenje propisanih graninih vrijednosti
(GV) za koliine talonog praha. Zatamnjena polja u tabeli ukazuju na znaajno
prekoraenje norme.
5 ZAKLJUAK
Na osnovu provedenih kontinuiranih mjerenja i ispitivanja zagaenosti zraka u
Zenici u periodu januar decembar 2015. godine moe se zakljuiti:
U Zenici je i dalje vrlo visoka zagaenost zraka sumpornim dioksidom,
ukupnim lebdeim esticama, a zabiljeene su i visoke vrijednosti koliina
talonog praha. Utvren je visok sadraj olova, kadmija, eljeza i cinka u
talonom prahu u podruju oko eljezare.
Godinji prosjek koncentracija sumpornog dioksida ne zadovoljava graninu
vrijednost zagaenosti zraka od 50 g/m 3 na svim mjernim mjestima.
Godinji prosjek koncentracija ukupnih lebdeih estica ne zadovoljava
graninu vrijednost niti na jednom mjernom mjestu.
Prekoraenje granine vrijednosti za godinji prosjek koliina talonog
praha je utvreno na 11 mjernih mjesta (sva mjerna mjesta izuzev mjernog
mjesta Crkvice i Perin Han), a najvei mjeseni prosjeci koliine
talonog praha utvreni su na mjernim mjestima u blizini eljezare.
Utvren je visok sadraj olova, kadmija, eljeza i cinka u talonom prahu.
Znatno prekoraenje granine vrijednosti sadraja olova, kadmija i cinka u
talonom prahu registrovano je na podruju oko eljezare, sadraj eljeza
nije normiran za zagaenost zraka.
Meutim, rezultati provedenih mjerenja dnevnih prosjeka zagaenosti zraka
sumpornim dioksidom i ukupnim lebdeim esticama ne mogu biti osnova za ocjenu
ukupne zagaenosti zraka u Zenici jer nedostaju mjerenja najopasnijih organskih
materija (benzol, toluen, ksilen, policikliki aromatski ugljikovodici).
391
Za sveobuhvatniju analizu potrebno je uraditi jo dosta dodatnih ispitivanja, kao to je

izrada registara zagaivaa (domainstva, male kotlovnice privrednih subjekata, broj
vozila i njihova starost), jer bez te analize ne mogu se poduzeti konkretne mjere protiv
onih koji doprinose ovakvom kvalitetu zraka u Zenici.
LITERATURA
[1] Goleti, ., Muhamedagi, S. (2007). Plan aktivnosti sa mjerama i rokovima za
postupno smanjenjenje, odnosno zagaenja, i za usaglaavanje sa najboljom
raspoloivom tehnikom za pogone i postrojenja Mittal Steel Zenica-Integralni Plan
aktivnosti, Zenica
[2] Pravilnik o graninim vrijednostima emisije zagaujuih materija u zrak na osnovu
lana 6.stav 2.i lana 18.stav 4. zakona o zatiti zraka (Slubene novine
Federacije BiH, broj: 33/03)
[3] Zakon o zatiti zraka Federacije Bosne i Hercegovine, Vlada FBiH (Sl.novine FBiH
broj: 33/03)
[4] Slubene novine FBiH, br.01/12.
[5] Pravilnik, (Sl.novine FBiH, broj 12/5).
[6] Izvjetaj o proizvodnji ArcelorMittal Zenica za 2015. godinu, Januar 2016, Zenica
[7] Izvjetaj kontinuiranih mjerenja koncentracije sumpor dioksida u Zenici za
2015.godinu, Metalurki Institut " Kemal Kapetanovi " Zenica, broj 11/16-EKO,
Zenica, mart 2016.
392
_____________________________________________________________________________
ANALIZA PROCESA PRIPREME ZRAKA ZA POTREBE

KONDICIONIRANJA OPERACIONE DVORANE PRIMJENOM
REGENERATIVNOG SISTEMA ZA POVRAT TOPLOTE
Merima Maslo1, Seadin Hadiomerovi2
Rezime: Povrat toplote otpadnog zraka u sistemima ventilacije i klimatizacije postie se

primjenom rekuperativnih i regenerativnih sistema za povrat toplote. Ukupan povrat
toplote koji je mogue ostvariti primjenom ovih sistema zavisi o: vrsti i namjeni objekta,
geografskoj lokaciji, vrsti pogona sistema klimatizacije grijanja/hlaenja, tipu
instalisanog sistema za povrat otpadne toplote.
U ovom radu je na primjeru operacione dvorane na lokaciji grad Mostar prikazano
koliki povrat toplote u sezoni grijanja je mogue ostvariti primjenom regenerativnog
sistema. Provedena analiza pokazuje da je mogue postii povrat toplote i do 140259
kWh.
Kljune rijei: klimatizacija, sistemi povrata toplote, regenerativni sistemi
ANALYSIS OF THE PROCESS OF AIR PREPARATION FOR THE PURPOSES OF

AIR CONDITIONING USING REGENERATIVE SYSTEM FOR HEAT RECOVERY
Abstract: Energy recovery exhaust air in ventilation and air conditioning is achieved
using recuperative and regenerative system for heat recovery. Total heat recovery
which can be achieved by applying these systems depends: on the type and purpose
of the facility, geographic location, type of propulsion system, air conditioning
heating/cooling, the type of the installed system for the return of waste heat.
This paper presents how much heat recovery in the heating season can be achieved
by applying regenerative system for operating room on the location of the city of
Mostar. The analysis shows that it is possible to achieve heat recovery up to 140259
kWh.
Key words: air conditioning, heat recovery systems, regenerative systems
1 Mr. Merima Maslo, dipl.ing.ma. Mainski fakultet, Mostar, merima.maslo@unmo.ba (CA)

2 Doc.Dr. Seadin Hadiomerovi, dipl.ing.ma., Mainski fakultet, Mostar, seadin.hadziomerovic@unmo.ba
393
Merima Maslo, Seadin Hadiomerovi
1 UVOD
Koritenje toplote otpadnog zraka u sistemima ventilacije i klimatizacije je prije
svega zahtjev gospodarenja energijom (cijena energije), zahtjev vremena i razvoja
tehnike, kao i zahtjev ouvanja okoline.
Generalno, povratom otpadne toplote iz otpadnih medijuma koristi se toplotna
energija sadrana u njima, koja bi se inae neiskoritena bacila u okolinu. Na taj nain
se smanjuju pogonski trokovi: uteda goriva i elektrine energije, smanjuje se
instalisana snaga i gabariti opreme i doprinosi se ouvanju ivotne sredine. Zbog toga,
pitanje koje se namee nije da li je potrebno koristiti sisteme povrata otpadne toplote,
ve kada i kako ih koristiti. Odgovori na ovo pitanje zavise od niza uticajnih
parametara, pa je za svaki sluaj ponaosob potrebno sprovesti analizu isplativosti.
Svakako, za velike sisteme je isplativo koristiti otpadnu toplotu. Kada su u
pitanju vazduni sistemi centralne klimatizacije, koritenje otpadne toplote vazduha je
gotovo obavezno kod sistema koji imaju protok spoljnog vazduha preko 3000m3/h.
U ovom radu je analizirana isplativost koritenja regenerativnog sistema za
povrat toplote za potrebe kondicioniranja operacionih dvorana na lokaciji grad Mostar u
sezoni grijanja.
2 REGENERATIVNI SISTEMI POVRATA TOPLOTE

Regenerativni sistemi povrata toplote su sistemi koji omoguavaju razmjenu
osjetne i latentne toplote na taj nain to se razmjena toplote odvija preko
akumulacione mase, uz meusobni direktni kontakt struja zraka. Osnovni parametri
kojima se ocjenjuje efikasnot regeneratora toplote su: stepen povrata toplote i stepen
povrata vlage
Stepen povrata toplote:
t 22 t 21 t11 t12
ili (1)
t11 t 21 t11 t 21
Stepen povrata vlage:
x 22 x21 x11 x12

ili (2)
x11 x21 x11 x 21
U cilju to boljeg shvatanja navedenih izraza za stepen povrata toplote i stepen

povrata vlage, na slici 1. dat je shematski prikaz procesa razmjene toplote sa
karakteristinim takama. [3]
394
Analiza procesa pripreme zraka za potrebe kondicioniranja operacione dvorane primjenom
regenerativnog sistema za povrat toplote
Slika 1. Proces razmjene toplote kod regenerativnih sistema
Osnovni tipovi izvedbi regenerativnog povrata toplote su: rotirajui regeneratori

i kapilarni ventilatori.
Kod rotirajueg regeneratora (Slika 2.) toplota se izmeu struja zraka prenosi
rotirajuom akumulacijskom masom u obliku saa izraenog najee od aluminijuma i
smjetenog u elino kuite. Pola regeneratora se nalazi u jednoj, a druga polovina u
drugoj struji zraka, meusobno razliitih temperatura. Strujanje u ureaju je
protusmjerno i koristi se za prenos toplote izmeu gasova temperatura do .
Stepeni razmjene osjetne toplote i razmjene vlage iznose od do ime su
znatno smanjeni eksploatacioni trokovi.
Glavni nedostataci rotirajuih regeneratora su: mogunost smrzavanja na
vanjskim niskim temperaturama, pri emu se smanjuje stepen povrata toplote i vlage,
te nepotpuno razdvajanje struja vazduha. [1,2]
Slika 2. Rotirajui regenerator toplote
Postoje dvije osnovne izvedbe rotirajueg regeneratora: sorpcijski i

kondenzacijski.
Kod sorpcijskog regeneratora povrina saa presvuena je higroskopnim
materijalom (npr. silikagel), pa higroskopna ispuna preuzima vlagu iz vlane struje
395
gasa i predaje je suhoj struji. Sistem se moe koristiti za povrat osjetne i latentne
toplote zimi, te hlaenje i odvlaivanje ljeti.
Kondenzacijski regenerator ima glatku povrinu saa izraenu od aluminija ili
elika ime je omoguen povrat latentne toplote samo zimi, tj. samo u sluaju hlaenja
ispod rosita stanja otpadnog zraka, pri emu vlaga kondenzuje u toploj, a isparava u
hladnoj struji. [1,2]
Kod kapilarnog ventilatora (Slika 3.) vanjski i povratni zrak usisavaju se
aksijalno u sredinju komoru, podijeljenu fiksnom pregradom. Oko komore rotira
izmjenjiva od poroznog materijala koji akumulira toplotu i prenosi je sa povratne struje
na vanjski zrak. Stepen povrata toplote kod kapilarnih ventilatora iznosi od do .
Koristi se za prenos toplote izmeu gasova. Ovaj tip ureaja je prevazien, te je vrlo
rijetko u primjeni. [1,2]
Slika 3. Kapilarni ventilator
3 ANALIZA REGENERATIVNOG SISTEMA ZA POVRAT TOPLOTE

U cilju ukazivanja na znaajne koliine toplotne energije koje je mogue
ostvariti sistemima za povrat toplote u ovom radu je analizirano klimatizacijsko
postrojenje sa rotacionim regeneratorom toplote. Analiza je provedena na primjeru
operacione dvorane, na lokaciji grad Mostar za reim grijanja, pri emu je uzeto da
grijanje poinje 26-tog oktobra, a zavrava 15-tog aprila. Vrijeme rada klimatizacijskog
postrojenja je od 800 do 1800.
Klimatizacijsko postrojenje koje je koriteno za analizu je sljedeih karakteristika:

stepen povrata toplote rotacijskog regeneratora: ,
stepen povrata vlage rotacijskog regeneratora toplote:
kapacitet regeneratora:
kapacitet grijaa:
kapacitet ovlaivaa:
396
Analiza procesa pripreme zraka za potrebe kondicioniranja operacione dvorane primjenom
regenerativnog sistema za povrat toplote
Shematski prikaz klimatizacijskog postrojenja sa rotacionim regeneratorom toplote je

dat na slici 4.
Slika 4. Klimatizacijsko postrojenje za povrat toplote
Rezultati dobiveni analizom su predstavljeni tabelarno Tabela 1. i grafiki Slika 5.
Tabela 1. Tabelarni prikaz ukupnih mjesenih vrijednosti povrata toplotne energije u

reimu grijanja
Mjesec Oktobar Novembar Decembar Januar Februar Mart April
Povrat toplote
3505 16774,3 21803 39910 31507 18157 8602
Slika 5. Grafiki prikaz ukupnih mjesenih vrijednosti povrata toplotne energije u

reimu grijanja
397
4 ENERGTSKE UTEDE PRIMJENOM REGENERATIVNOG SISTEMA TOPLOTE

Ukupan povrat toplotne energije u reimu grijanja koji se moe ostvariti iznosi
140259kWh. Za ostvareni povrat toplotne energije izraunate su godinje utede
sljedeih energenata: elektrina energija, prirodni plin i EL lo ulje izraene u KM.
Godinje utede koje je mogue ostvariti primjenom regenerativnog sistema su
izraunate na osnovu stvarnih cijena za pomenute energente za Bosnu i Hercegovinu.
Dobiveni rezultati su predstavljeni tabelarno (Tabela 2.).
Tabela 2. Godinje utede ostvarene regeneracijom toplote
Elektrina energija Prirodni plin EL lo ulje
Godinja uteda
energije u [KM] 11796,00 10395,00 18078,00
5 ZAKLJUCI
Moe se zakljuiti sljedee:
Povrat toplotne energije pomou sistema za povrat toplote je prije svega
isplativ.
Primjenom regenerativnog sistema za povrat toplote za kondicioniranje
operacionih dvorana na lokaciji grad Mostar, za sezonu grijanja mogue je
ostvariti povrat toplote i do . Provedenom analizom je
pokazano da je najvei povrat toplote u mjesecu januaru i iznosi
, dok je najmanja vrijednost povrata toplote u
mjesecu oktobru, to je sasvim i razumljivo budui da sezona grijanja
poinje 26-tog oktobra.
LITERATURA
[1] Diner, I., Kanolu, M. (2010). Refrigeration systems and applications
[2] Dovi, D., Ferdelji, N., Horvat, I., Rodi, A. (2015). Algoritam za proraun potrebne
energije za primjenu ventilacijskih i klimatizacijskih sustava kod grijanja i hlaenja
prostora zgrade, Zagreb
[3] eperkovi, R.S. (2006). Grejanje i klimatizacija
398
_____________________________________________________________________________
KOMPARACIJA EMISIJA CO2 ZA SNABDIJEVAKE LANCE

GORIVIMA OD DRVNE BIOMASE I UGLJA
Maja Mrki Bosani1, Sran Vaskovi2, Petar Gvero3, Velid Halilovi4,
Daliborka Petrovi5
Rezime: Potronja fosilnih goriva za aktiviranje mehanizacije za prikuplanje, transport i

preradu biomase u neku vrstu vrstih goriva stvara odreenu koliinu uglen dioksida
(CO2) koja se emituje u atmosferu. S druge strane ako se posmatra jedan
snabdijevaki lanac energijom iz fosilnog goriva (uglja) tada imamo isto slinu situaciju
to se tie emisija za aktivaciju mehanizacije. Meutim, kljuna razlika je u tome to
sagorijevanje biomase u nekom postrojenju tretira se kao CO 2 neutralno, dok se kod
sagorijevanja uglja uzima ekvivalentna vrijednost emisije CO 2 jer se u pitanju fosilno
gorivo. Ovaj rad vri komparaciju emisija koje se pojavljuju u ova dva tipa energetskih
lanca.
Kljune rijei: Biomasa, Ugalj, CO2 emisije, Komparacija
COMPARISON OF CO2 EMISSIONS FOR SUPPLY CHAINS OF FUELS FROM

BIOMASS AND COAL
Abstract: The consumption of fossil fuels to activate machinery for the collection,
transportation and processing of biomass into a kind of solid fuels produces a certain
amount of carbon - dioxide (CO2) emitted into the atmosphere. On the other hand if we
consider one supply chain of energy from fossil fuels (coal), then we have the same
similar situation as regards emissions to activate the machinery. However, the key
difference is that the combustion of biomass in the plant is treated as CO 2 neutral.
While the combustion of coal take into account the equivalent value of CO 2 emissions
because it comes from fossil fuels. This paper compare CO2 emissions that occur in
these two types of energy chain.
Key words: Biomass, Coal, CO2 emission, Comparison.
1
Maja Mrki Bosani, Ministarstvo industrije, energetke i rudarstva RS, maja_mb@hotmail.com
2
Doc. dr Sran Vaskovi, Mainski fakultet I. Sarajevo, BiH, srdjan_vaskovic@yahoo.com
3
Prof. dr Petar Gvero, Mainski fakultet Banja Luka, BiH, gvero.petar@gmail.com
4
Doc. dr Velid Halilovi,umarski fakultet Sarajevo, BiH, velidha@yahoo.com
5
Dipl. in. ma. Daliborka Petorvi, master student, Mainski fakultet I. Sarajevo,
petrovicdaliborka1@gmail.com
399
Maja Mrki Bosani, Sran Vaskovi, Petar Gvero, Velid Halilovi, Daliborka Petrovi
1 UVOD
Sagorijevanjem fosilnih goriva oslobaa se CO2 koji je godinama bio vezan u
zemlinoj kori i na takav nain pojavluje se viak osloboenog CO2 u atmosferi. Uglen-
dioksid u poveanoj koncentraciji u atmosferi predstavla jedan od najznaajnijih
tetnih gasova koji izaziva efekat staklene bate. Efekat staklene bate nastaje
zbog toga to Zemla i njena atmosfera apsorbuju sunevu toplotu. Koritenjem sve
veeg broja razliitih hemijskih jedinjenja i sagorijevanjem fosilnih goriva u
svakodnevnom ivotu, ludi su promijenili sastav gasova u atmosferi. Ova promjena
hemijskog sastava atmosfere dovela je do toga, da umjesto da proputa toplotu
odbijenu sa povrine Zemle, atmosfera poinje da zadrava odbijenu toplotu. Na ovaj
nain se cijela atmosfera sve vie dodatno zagrijava. Uglen-dioksid predstavla jedan
od kvantitativno najuticajnijih tetnih gasova koji izaziva tzv.efekat staklene bate.
ivot ludi, ali i tehnoloki razvoj ovjeanstva zavisi od energije. Razvojem
novih tehnolokih dostignua rastu i potrebe za energijom na planeti. Uglavnom te
energetske potrebe u dananje vrijeme se podmiruju iz fosilnih goriva kao to su ugal,
nafta i prirodni gas kao primarni energenti. Na bazi istraivanja, prema procjenama i
podacima IEA 2013 [1], postojee svjetske rezerve primarnih fosilnih energenata
prema sadanjoj potronji energije u svijetu, bile bi dovolne za sledei vremenski
period [2]:
ugal: 110 do 120 godina,
nafta: 40 do 45 godina,
prirodni gas: 55 do 60 godina.
Procjenjuje se da se sagorijevanjem fosilnih goriva u ukupnoj proizvodnji
energije na Zemli, proizvodi oko 24 biliona tona uglen-dioksida godinje, a takoe
procjena je da prirodni procesi fotosinteze mogu apsorbovati samo pola od tog iznosa.
Uglen-dioksid koji nastaje prilikom procesa sagorijevanja je jedan od najznaajnijih
gasova koji izazivaju efekat staklene bate koji doprinosi procesu globalnog
zagrijavanja, uzrokujui tako da prosjena povrinska temperatura Zemle raste, to
vodi ka velikim nepovolnim efektima [3].
2 NEUTRALNOST BIOMASE KAO GORIVA U POGLEDU EMISIJE CO2

Biomasa predstavla uskladitenu solarnu energiju u procesu fotosinteze u
obliku hemijskih jedinjenja koja formiraju strukturu drvea i bilaka vezujui pri tome u
svoju strukturu uglen-dioksid (CO2). Ukoliko se biomasa ne iskoritava i ostaje npr. u
umi ili na livadama, onda ona prirodnim putem moe istrunuti i tako nastaju hranlivi
sastojci koji se vraaju u zemlite (humus). Za vrijeme sagorijevanja biomase, kiseonik
iz atmosfere se spaja sa uglenikom u biomasi i kao produkti sagorijevanja dobijaju se
ponovo CO2, pepeo, voda i osloboena toplotna energija. Biomasa, kada se koristi za
dobijanje energije, smatra se "istom" ili uglen-dioksid neutralnom (sagorijevanjem
bilnih ostataka, otpada iz drvne ili poloprivredne industrije i sl.) ne oslobaa se u
atmosferu vie uglen-dioksida nego to je iz atmosfere usvojeno tokom relativno
kratkog ivotnog ciklusa bilke ija se masa sagorijeva. Ovo je osnovni razlog zato se
bioenergija smatra CO2 neutralnom. Standardom EN 14588:2010 tano je definisan
pojam biomase.
Pod terminom bioenergija podrazumijeva se energija koja je dobijena
konverzijom hemijski vezane energije u biomasi, dok biogorivo predstavla preraenu
biomasu u kome se nalazi akumulirana suneva energija vezana u obliku hemijske
energije u gorivu. Pojam bioenergije, takoe je definisan sa standarom EN
14588:2010.
400
Komparacija emisija CO2 za snabdijevake lanace gorivima od drvne biomase i uglja
3 MOTIVACIJA I CILJ RADA

Glavna motivacija za nastanak ovog rada nalazi se u pitanju: Koliko je stvarno
biomasa CO2 neutralna? Iz tih razloga u ovom radu se porede specifine emisije iz dva
karakteristina energetska lanca snabdijevanja: biogorivom (drvnom sjekom) i
fosilnim gorivom (ugljem). Cilj rada je doi do odnosa i korelacije izmeu ovih
vrijednosti koristei odreena ogranienja i pretpostavke. Za biomasu kao gorivo moe
se uslovno rei da je CO2 neutralna na nivou energetskog postrojenja i uzimajui u
obzir njen ivotni vijek i konzumaciju CO2 tokom njenog ivotnog ciklusa. S druge
strane, to isto i ne vrijedi za ugalj kao fosilno gorivo.
4 FUNKCIJA SPECIFINE EMISIJE CO2 ZA ENERGETSKE LANCE

Porast GHG (Green House Gases) emisija iz fosilnih goriva tokom procesa
sagorijevanja podstie potrebu da sve zemle koriste to vie obnovlivih izvora
energije. Emisija gasova staklene bate odreenih vrsta esto se prati zbog svojih
nepovolnih ekolokih posledica koje izazivaju: fotohemijski smog, kisele kie, globalno
zagrijavanje oteenje ozonskog omotaa itd. Detali i standardne metode koje se
koriste za mjerenje tetnog uticaja, GWPs ( Global Warming Potentials) su definisane
prema [4]. Za mjerenje uticaja na ivotnu sredinu nekog energetskog sistema, rezultati
su izraeni kroz masu emisije uglen-dioksida ekvivalentne po jedinici nekog izlaza
(npr. kgCO2/ kWhe).Sledei izraz se moe koristiti za procjenu emisije gasova
staklene bate od sagorijevanja za svaku vrstu goriva po definisanom energetskom
lancu [5]:
q m kj eckj efkj
t
f k 1 3.6 , (1)
Ep(gorivo/ toplota/ el.energija) j t
gdje je:
m kj - koliina potronje odreenog tipa goriva u jednom elementu energetskog lanca
[kg/h],
eckj - toplotna mo definisana za svako gorivo [MJ/kg],
efkj - emisioni faktor za svaki gas (u ovoj tezi razmatran je CO2) za razliite tipove
goriva [kg/kWh], [6],
Ep(gorivo/ toplota/ el.energija) j - produktivnost energetskog lanca za razliite
energetske forme definisano po satu [kwh/h, MWh/h],
j - broj energetskih lanaca,
t - vrijeme rada postrojenja (energetskog lanca) [h].
Treba naglasiti da se u procesima kombinovane proizvodnje elektrine
energije, toplote i goriva od biomase mora uzeti u obzir faktor eksergetskog kvaliteta
proizvedenih energetskih formi koji je direktno u vezi i sa cijenom proizvedene energije
ali i sa koliinama emisija svedenih na 1 kWh proizvedene energetske forme. Na taj
nain se vrednuje kvalitet energija na razliitim nivoima transformacija.
401
5 PRORAUN EMISIJA CO2 ZA ENERGETSKE LANCE SNABDIJEVANJA

DRVNOM SJEKOM I UGLJEM
5.1 Vrijednosti emisije CO2 kod energetskog lanca snabdijevanja drvnom

sjekom uz pomo mobilnog iveraa
Energetski lanac za proizvodnju drvne sjeke sastoji se od: motorne testere,
skidera, mobilnog iveraa i kamiona za transport drvne sjeke. Rad mobilnog iveraa
predvien je u umi i njegov pogon ostvaren je uz pomo traktora. Skider je maina
koja dodaje umski ostatak u mobilni ivera i radi u krugu distance do 1 km. Transport
drvne sjeke predvien je kamionom ukupne zapremine sanduka 60 m3 i duine
transporta do 90 km. Podaci o proraunskim vrijednostima za ovaj sluaj energetskog
lanca snabdijevanja mogu se pronai u literaturama [7], [8] i [9].
U nastavku e biti date samo izraunate vrijednosti specifinih emisija CO2
svedenih po 1 kWh toplotne moi proizvede drvne sjeke uz pomo mobilnog iveraa:
Gus 4,342 103 [7]. Takoe, u poreenju sa drugim nainima proizvodnje biogoriva
na slici 1. dat je prikaz emisije CO2 za tri razliite varijante.
Slika 1. Specifina emisija uglendioksida u lancima proizvodnje drvnih goriva (1-

terminal, 2-pelet postrojenje, 3-mobilni ivera) [7]
5.2 Jednaine i izrazi za proraun emisije CO2 kod energetskog lanca

snabdijevanja ugljom
Lanac snabdijevanja ugljem sastavljen je od: bagera, utovarivaa i kamiona. Te
maine direktno uestvuju u snabdijevanju ugljem i proizvode emisije CO 2 zbog
sagorijevanja nafte za pogon motora od ovih maina. Takoe, i ovom lancu
snabdijevanja uzima se u obzir pun i prazan hod kamiona. U nastavku slijede formule
za izraunavanje specifinih emisija CO 2 za pojedine komponente ovog energetskog
lanca. U tabeli 1. date su vrijednosti polaznih parametara i izraunavanja specifinih
emisija CO2 svedenih na 1 kWh toplotne moi od dobijeno goriva (uglja).
Emisija CO2 pri radu bagera-ugalj (kg/kWh)
eF
F H v 8 Ftc t
Gb
10
3, 6 (2)
DOM 0 SVF Pr t
402
Emisija CO2 pri radu utovarivaa-ugalj (kg/kWh)

eF
F H v 8 Ftc t
Gut
10
3, 6 (3)
DOM 0 SVF Pr t
Emisija CO2 kamiona - prazan hod (kg/kWh)

eF
F H v 8 Ftc l

10
Gkph 3, 6 (4)
DOM M t 1000
Emisija CO2 kamiona prevoz uglja (kg/kWh)
eF
F H v 8 Ftc l

10
Gkpu 3, 6 (5)
DOM M t 1000
Emisija ostvarena sagorijevanjem one koliine ugljendioksida koja se oslobodi
potpunim sagorijevanjem 1 kwh toplotne moi uglja (kg/kWh) Gps =0,34378.
Ukupna emisija CO2 ostvarena sa distribucijom uglja i njegovim sagorijevanjem
(kg/kWh):
Gsum Gb Gut Gkph Gkpu Gps (6)
Gdje su objanjenja parametara data u tabeli 1.
Tabela 1. Parametri pri proraunu emsija CO2 za snabdijevaki lanac ugljem

Kamion Kamion
Parametri/maine Bager Utovariva
prazan hod pun
Gustina nafte kg
F 3 830 830 830 830
m
Donja toplotna mo nafte
MJ 40 40 40 40
Hv
kg
Emisioni faktor CO2 za naftu [10]
eF kgco2GJ 77,4 77,4 77,4 77,4
l
Potronja nafte Ftc 15 10 20 20
h
Vrijeme t h 16 0,10 - -
Donja toplotna mo ugalj za w=16%
MJ 24,393 24,393 24,393 24,393
DOM
kg F
403
kg
o 3 1400 1400 - -
m
Zapreminski faktor za granulaciju
0,5 0,5 - -
uglja SVF
m3
Produktivnost maina Pr 176 176 176 176
h
Distanca transporta l km - - 100 100
Nosivost kamiona M t t - - 25 25
kg 4,61744E-
Gb
kWh
- - -
07
kg 3,07829E-
G ut
kWh
- -
07
kg 0,000303
G kph
kWh
kg
Gkpu
kWh
0,000683
kg 0,34378
G ps
kWh
kg
Gsum
kWh
0,344767
5.3 Odnos specifinih emisija CO2 za lanac snabdijevanja drvnom sjekom i

ugljem
Emisije CO2 od energetskih lanaca proizvodnje drvne sjeke i uglja moemo
uporediti na dva naina. Prvi nain odnosi se na komparaciju emisija koje nastaju
aktivacijom mehanizacije za snabdijevanje i transport gorivima, dok drugi nain uzima
u obzir i emisiju koja se ostvaruje na nivou postrojenja za sagorijevanje. S obzirom da
je emisija CO2 od sagorijevanja biomase na nivou energetskog postrojenja priblino
jednaka nuli zbog CO2 neutralnosti biomase, interesantno je znati o kojim odnosima
specifinih emsija CO2 se radi. Odnos specifinih emisija od aktivacije mehanizacije u
snabdijevakim lancima drvnom sjekom i ugljem iznosi:
Gus 4,342 103
nm 4, 4 (7)
Gb Gut Gkph Gkpu 9,867 104
to znai da je specifina emisija kg CO 2/kWh izazvana proizvednjom drvne sjeke uz
pomo mobilnog iveraa oko 4,4 puta vea od specifine emisije CO 2 kg CO2/kWh koja
se desi pri funkcionisanju snabdijevakog lanca ugljem.
404
Za drugi sluaj kada uraunamo specifinu emisiju od sagorijevanja 1 kWh uglja i u

istoj komparaciji sa emisijom od mehanizacije za proizvodnju sjeke imamo:
Gus 0 4,342 103
nu 0,01259
Gb Gut Gkph Gkpu 0,344767
1
Ako uzmemo recipronu vrijednost broja 79, 4 , to znai da je u ovom sluaju
nu
specifina emisija CO2 od lanca proizvodnje energije od uglja 79,4 puta vea od emsija
CO2 energetskog lanca baziranog na drvnoj sjeki.
6 ZAKLJUAK
U radu se jasno mogu izdvojiti sledei zakljuci:
Energija iz biomase nije u potunosti CO2 neutralna, moda ako se ova

emisija posmatra na nivou energretskog postrojenja,
Proces ostvarivanja CO2 mogue je ostvariti samo koritenjem goriva
dobijenih iz potpuno CO2 neutralnih procesa,
Poveanjem radnog uinka i smanjenjem broja radnih maina u
snabdijevakom lancu smanjuje se i specifina emisija CO 2 svedena
na koliinu toplotne moi dobijenog goriva,
Izraunate vrijednosti specifinih emisija i njihovih odnosa za ova dva
karakteristina energetska lanca mogu posluiti u daljim procesima
planiranja i projektovanja snabdijevakih lanaca uzimajui u obzir
odnos ovjeka prema ivotnoj sredini i klimatskim promjenama koje su
sve dominantnije,
Izraunate vrijednosti priblinih koliina specifinih emisija mogu
posluiti i u definisanju scenarija onih potrebnih koliina energetskih
kultura koje bi neutralisale emitovane koliine CO2 u procesu
fotosinteze.
U funkcionisanju i instalaciji novih energetskih sistema baziranih na proizvodnji
energije sagorijevanjem goriva, specifina emisija CO 2 uzrokovana u snabdijevakim
lancima gorivima, predstavlja jedan od nezaobilaznih kriterijuma u
multidimenzionalnom procesu optimizacije energetskih procesa i sistema.
LITERATURA
[1] International Energy Agency (2013), Anual Report.
[2] Resources to Reserves (2013), Oil, Gas and Coal Technologies for the Energy
Markets of the Future, IEA 2013.
[3] Papieraus sterreich, EineBeilagezur APV Tagung, (2004(, 51. APV Tagung
und Messe in Graz.
[4] IPCC Third Assessment Report, (2003) Climate Change 2001. Technical report.
Intergovernmental Panel on Climate Change.
[5] NGA factors, (2014) Australian National Greenhouse Accounts. Australian
Government. Department of Environment.
[6] Herold A, (2003) Comparison of CO2 emission factors for fuels used in
Greenhouse Gas Inventories and consequences for monitoring and reporting
under the EC emissions trading scheme. ETC/ACC Technical Paper 2003/10.
405
[7] Sran Vaskovi, (2016), doktorska disertacija, Razvoj modela za ocjenu

prihvatlivosti energetskih lanaca pri proizvodnji energije i energenata iz biomase,
Univerzitet u Istonom Sarajevu, Mainski fakultet.
[8] Vaskovi S, Halilovi V, Gvero P, Medakovi V, Musi J, (2015) Multi-criteria
optimization concept for the selection of optimal solid fuels supply chain from
wood biomass. Croatian Journal of Forest Engineering. Croat. j. for. eng.
36(2015)1: 129-123.
[9] Krajnc N, (2011) Wood Energy Technologies. Partnership Programmes
TCDC/TCC TCP/YUG/3201 (D). Belgrade.
[10] http://www.volker-quaschning.de/datserv/CO2-spez/index_e.php, pristupljeno
(10.10.2016).
406
_____________________________________________________________________________
ODREIVANJE VRIJEDNOSTI SUBVENCIJA U SKLADU SA

EKSERGETSKIM KVALITETOM ZA GORIVA I TOPLOTU
PROIZVEDENU OD BIOMASE
Sran Vaskovi1, Petar Gvero2, Vlado Medakovi3, Azrudin Husika4
Dragana Kalabi5
Rezime: Znaaj proizvodnje energije iz biomase je posebno izraen u posljednje

vrijeme. Najznaajniji dio u procesu proizvodnje energije iz biomase je lanac
snabdijevanja i proizvodnja goriva od biomase. Zbog jeftinije proizvodnje energije iz
fosilnih goriva, energija iz biomase je manje konkurentna od fosilne energije. Iz tog
razloga se vri subvencioniranje proizvodnje energije iz biomase. U Republici Srpskoj i
Bosni i Hercegovini definisano je samo subvencioniranje elektrine energije
proizvedene iz biomase, dok se nii oblici energije ne subvencioniraju. Da bi se
definisala vrijednost subvencije za proizvedenu toplotu i goriva od biomase, treba se
uzeti u obzir eksergetski kvalitet ovih formi. Ovaj rad opisuje jedan takav pristup.
Kljune rijei: Biomasa, eksergetski kvalitet, goriva, subvencije, toplota
DETERMINATION VALUES OF SUBSIDIES IN ACCORDANCE WITH THE EXERGY

QUALITY OF FUELS AND HEAT PRODUCED FROM BIOMASS
Abstract: The importance of bioenergy is particularly evident in recent years. The most
important part in bioenergy supply chain is production of fuels. Due to cheaper energy
production from fossil fuels, energy from biomass is less competitive than fossil
energy. For this reason, there are subsidies for energy production from biomass. In
the Republic of Srpska and Bosnia and Herzegovina there are defined only subvention
for electricity produced from biomass, while the lower forms of energy are not
subsidized. In accordance with the defined amount of subsidies for 1 kWh of the
produced electricity we can define the value of subsidies for the produced heat energy
and fuels from biomass. For that we should take into account exergy quality of these
forms in comparison with electricity. This paper describes one such approach.
Key words: Biomass, exergy quality, fuels, heat, subsidies
1
Doc. dr Sran Vaskovi, Mainski fakultet I. Sarajevo, BiH, e-mail: srdjan_vaskovic@yahoo.com (CA)
2
Prof. dr Petar Gvero, Mainski fakultet Banja Luka, BiH, e-mail: gvero.petar@gmail.com
3
Doc. dr Vlado Medakovi, Mainski fakultet I. Sarajevo, BiH, e-mail: vlado.medakovic@gmail.com
4
Doc. dr Azrudin Husika, Mainski fakultet Sarajevo, BiH, e-mail: husika@lol.ba
5
Dragana Kalabi, Ministarstvo industrije, energetke i rudarstva RS, e-mail: D.Kalabic@mier.vladars.net
407
Sran Vaskovi, Petar Gvero, Vlado Medakovi, Azrudin Husika, Dragana Kalabi
1 UVOD
Ukupna vrijednost subvencije proizvedne energije iz obnovljivih izvora
izraunava se kao ona cijena po jedinici proizvedene energije koja se plaa
proizvoau obnovljive energije za njegovu proizvodnju kao podsticaj i nalazi se
zavisnosti od cijena koje vladaju na tritu energije. Uobiajeno je da se cijena
proizvodnje energije iz obnovljivih izvora energije nalazi iznad referentnih trinih
cijena energije. Referentne trine cijene uglavnom diktira cijena energije proizvedene
iz fosilnih goriva. Zbog toga da bi se nadoknadila razlika izmeu cijene energije
proizvedne iz obnovljivih izvora energije i trine cijene energije potrebna je subvencija
i podrka korienju obnovljivih izvora energije. Ta razlika svakako odreuje i stepen
konkurentnosti pojedinih oblika obnovljivih izvora energije. Konaan ishod korienja
subvencija za proizvodnju energije iz obnovljivih izvora je postizanje potpune
konkurentnosti proizvodnje energije iz obnovljivih izvora sa energijom dobijenom iz
fosilnih goriva. O metodologiji prorauna subvencija vie u literaturi [1].
Ovaj rad nee se baviti sa metodologijom i samim pretpostavkama za
izraunavanje vrijednosti subvencija. Tematika ovog rada je da za ve prethodno
definisanu vrijednost subvencije za proizvodnju elektrine energije iz biomase, odredi
vrijednosti subvencija za nie energetske forme kao to su toplota i goriva. Pristup
definisanju vrijednosti subvencija za toplotu i goriva uraen je uz pomo faktora
eksergetskog kvaliteta ovih formi. Kao primjer u radu su uzeta odreena postrojenja iz
Republike Srpske za ije su kapacitete izraunate vrijednosti potencijalnih iznosa
subvencija a u skladu sa propisanom vrijednosti subvencije za elektrinu energiju
proizvedene iz biomase, propisane od operatera za OIE. Da bi razumjeli primjenu i
znaaj faktora eksergetskog kvaliteta, u nastavku slijedi njegovo obrazloenje.
2 KOEFICIJENT EKSERGETSKOG KVALITETA ZA RAZLIITE PRODUKTE OD

POSMATRANIH ENERGETSKIH LANACA
Razliite energetske forme imaju i razliit kvalitet. Postoje razliite osnovne
energetske forme: kinetika, potecijalna, toplotna, hemijska, elektrina energija,
elektromagnetna, energija zvuka i nuklearna energija. Kae se da je energija
upotrebliva ako se kompletna transformie uz pomo idealnog sistema (bez gubitaka)
u neki drugi tip energije. Ta upotrebliva energija je poznata pod nazivom kao eksergija
i predstavla samo dio ukupne energije. Elektrina i mehanika energija su energije
visokog kvaliteta i njihov eksergetski indeks je 100%. Eksergetske kalkulacije zavise
od stanja okoline. Referentno okruenje je krajnji ponor svih energetskih transformacija
[2]. Vrijednost eksergije u odreenom energetskom resursu moe biti dobijena
mnoenjem te koliine energije i faktora kvaliteta energetske forme:
eksergija
q (1)
energija
Hemijska energija je mnogo upotreblavana kao baza za primarnu energetsku
konverziju. Eksergetska efikasnost procesa sagorijevanja u idealnim uslovima
sagorijevanja definisana je Drugim zakonom termodinamike i zavisi od nivoa
temperature sagorijevanja Tcombustion i temperature okoline T0 [3]. Sadraj eksergije u
toploti zavisi od temperature posmatrane materije, kao i nivoa temperature okoline.
Neke energetske forme i respektivno njihovi faktori kvaliteta mogu se pronai u [4].
Temperatura je glavni parametar kvaliteta toplote. Sadraj eksergije u odreenoj
koliini toplote (Q) rauna se prema:
408
Odreivanje vrijednosti subvencija u skladu sa eksergetskim kvalitetom za goriva i toplotu
proizvedenu iz biomase
T (2)
E x =Wmax =Q 1- 0
T
Generalno, kada imamo razmatranje izmeu tri znaajne energetske forme:
elektrine energije, toplotne energije i goriva (hemijska eksergija), tada moemo
definisati tri razliita koeficijenta za njihovo uporeivanje. Kao to znamo, elektrina
energija je najkvalitetnija energetska forma i ima ovaj faktor jednak jedinici. Za sve
ostale tipove energetskih formi kao to su gorivo ili toplota ovaj faktor je manji od
jedinice. Na slici 1. prikazane su neke od razliitih energetskih formi.
Slika 1. Razliite energetske forme
U tabeli 1. prikazan je pregled koeficijenata eksergetskog kvaliteta za razliite

energetske forme.
Tabela 1. Koeficijenti eksergetskog kvaliteta za razliite energetske forme

Energetska forma
Elektrina
Gorivo Toplotna energija
energija
Koeficijenti fex
T0
Ej = 1 Fj = exp Hj = 1-
T
Gdje su:
exp - eksergetska efikasnost za proizvodnju elektriciteta iz razliitih tipova goriva za
definisanu tehnologiju,
T0 - temperatura okoline [K],
T- temperatura toplotnog izvora [K],
Ej, Fj, Hj - koeficijenti eksergetskog kvalitata za elektinu energiju, gorivo i toplotnu
energiju.
Takoe, moemo definisati kombinovani koeficijent eksergetskog kvaliteta za
energetski lanac i njegove produkte:
(3)
f ex E j e j Fj f j H j h j ,
gdje je :
409
e j f j h j 1, (4)
e j ,f j , h j - procenat istovremene proizvodnje elektrine energije, goriva i toplotne
energije u energetskom lancu. Na slici 2 prikazan je slikovito nain izraunavanja
faktora eksergetskog kvaliteta za el. struju, gorivo i toplotu.
Slika 2. Ekvivalentni faktor eksergetskog kvaliteta
3 PRIMJER PRORAUNA SUBVENCIJA ZA IZABRATA POSTROJENJA

Primjer definisanja subvencija uzet je za tri sluaja: CHP postrojenje, toplana-
toplovodni kotao i fabrika peleta. Toplana i fabrika peleta su relana postrojenja koja su
ve operativna i nalaze se na teritoriji Republike Srpske. CHP postrojenje sa ORC
procesom je uzeto iz literature [5].
3.1 Podaci o CHP postrojenju sa ORC procesom:
nominalna snaga termoulnog kotla u kW
elektrina snaga postrojenja umanjena za sopstveni

utroak u kW
Pt = 4095 400 3695 toplotna snaga umanjena za snagu suenja
temperatura vode dogrijane od strane CHP procesa, 80 C

referentna temperatura okoline, 0 C
efikasnost kotla
ukupna energetska efikasnost postrojenja
procentualni sadraj kiseonika u drvnoj sjeki, %
procentualni sadraj uglenika u drvnoj sjeki, %
procentualni sadraj vodonika u drvnoj sjeki, %
procentualni sadraj azota u drvnoj sjeki, %
procenat vlage u drvnoj sjeki
faktor eksergetske efikasnosti

410
procenat proizvodnje struje
procenat proizvodnje toplote
eksergetski faktor kvaliteta struje
eksergetski faktor kvaliteta toplote za definisane

parametre i
f ex E e H h 0.38 ukupni koeficijent eksergetskog kvaliteta dobijenih

produkata el. energije i toplote
Planirana godinja proizvodnje elektrine energije: EE.

Planirana godinja proizvodnje toplotne energije: ET.
Vrijednost subvencije za elektinu energiju SE=0,1620 KM/kWh za instalisanu
elektrinu snagu do 1 MW za elektrane na vrstu biomasu [6].
elektrinu snagu od 1 do 10 MW za elektrane na vrstu biomasu [6].
Ekvivalentna instalisana snaga je priblino 1+ 3,695/3 = 2,231 MW, to znai da e
subvencija ii u kategoriju postrojenja preko 1 MW i iznositi za ovo postrojenje
SE=0,1468 KM/kWh.
Ekvivalentna vrijednost subvencije za proizvedenu elektrinu energiju i toplotu
iznosie:
Sek f ex SE 0.38 0.1468 0.055784 KM/kWh (5)
Svedeno po zbirnom kWh proizvedene elektrine i toplotne energije ovog postrojenja

planirana vrijednost subvencije na godinjem nivou za ovo postrojenje iznosie:
Szbir/godini Sek E E ET (6)
Gdje je EE, ET proizvedena koliina el. energije i toplote na godinjem nivou.
3.2 Podaci o toplovodom kotlu toplana u Prijedoru

korisna izlazna toplotna snaga iz postrojenja umanjena za
snagu suenja u kW
izlazna temperatura vode, 110 C
411
referentna temperatura okoline, 0 C
toplotna mo goriva u kJ/kg, odgovara vlanosti 50%
energetska efikasnost kotla za 100% optereenje
procentualni sadraj kiseonika u drvnom ipsu, %
procentualni sadraj uglenika u drvnom ipsu, %
procentualni sadraj vodonika u drvnom ipsu, %
procentualni sadraj azota u drvnom ipsu, %
toplotna mo drveta za jelu, MJ/kg
procenat vlage u drvnom ipsu
faktor eksergetske efikasnosti
procenat proizvodnje toplote
eksergetski faktor kvaliteta toplote za definisane

parametre i
f ex H h 0.287 ukupni koeficijent eksergetskog kvaliteta toplote
Proraunski podaci o postrojenjima preuzeti iz [5].

Planirna godinja proizvodnje elektrine energije: Ee.
Planirna godinja proizvodnje toplotne energije: ET.
elektrinu snagu do 1 MW za elektrane na vrstu biomasu.
elektrinu snagu od 1 do 10 MW za elektrane na vrstu biomasu.
Ekvivalentna instalisana snaga je priblino 0 + 10/3 = 3,33 MW, to znai da e
subvencija ii u kategoriju postrojenja preko 1 MW i iznositi za ovo postrojenje
SE=0,1468 KM/kWh.
Ekvivalentna vrijednost subvencije za proizvedenu toplotu iznosie:
412
Sek f ex SE 0.27 0.1468 0.0421316 KM/kWh (7)
Planirana vrijednost subvencije za proizvodnju toplote na godinjem nivou iznosila bi:
Szbir/godini Sek 0 ET 0 (8)
Gdje je ET godinji obim proizvodnje toplote. Ako je priblina trina cijena 1 kWh
proizvedene toplote u BiH jednaka oko 0,07 KM/kWh, onda uee subvencije prema
ovakvom nainu subvencioniranja iznosi oko 60% od cijene 1 kWh toplotne energije.
3.3 Podaci o pelet postrojenju:

Kao referentni primjer uzeto je pelet postrojenje: Preduzee za izradu
ambalae od drveta i proizvodnju eko briketa-peleta, EU PAL d.o.o. Pale. Proraunski
podaci o postrojenjima preuzeti iz [5].
Godini kapacitet: 10 000 tona
Za faktor eksergetskog kvaliteta za proizvodnju goriva (peleta) uzima se koeficijent
eksergetske efikasnosti proizvodnje elektrine energije iz CHP postrojenja. Referentno
moe se uzeti neka srednja vrijednost eksergetske efikasnosti ovih postrojenja. Za na
sluaj je:
f ex eks 0.16 .
Toplotna mo peleta je HP = 4,7-5 kWh/kg, uzeto 15 MJ/kg.
Kapacitet prese je K = 2 t/h.
Priblian proraun ekvivalentnog nivoa snage goriva koju presa proizvodi u jednom
satu je:
K t Hp 2000 1 15
PG 2.3MW (9)
3.5 3600 3.5 3600
Postrojenje priblino spada u kategoriju postrojenja iznad 1 MW sa ekvivalentnom

vrijednou subvencije od SE=0,1468 KM/kWh.
Ekvivalentna vrijednost subvencije za proizvedeno gorivo po 1 kWh toplotne moi
iznosie:
Sek f ex SE 0.16 0.1468 0.023488 (10)
Svedeno po kWh proizvedene koliine energije uskladitene u obliku goriva, planirana

vrijednost subvencije na godinjem nivou za ovo postrojenje iznosie:
Szbir/godini Sek 0 0 EG (11)
Gdje je EG godinji obim proizvodnje goriva u oblika peleta. Ako se uzme u obzir da je
priblina cijena 1 tone peleta na tritu u BiH jednaka oko 250 KM, pribline toplotne
moi oko 4,5 kWh/kg, to znaci da je 0,055 KM/kWh vrijednost 1 KWh toplotne moi
ovog goriva. U tom sluaju vrijednost subvencije iznosi oko 42% od proizvodne cijene
1 kWh toplotne moi peleta. Priblina vrijednost subvencije u skladu sa prethodnim
iznosila bi oko 100 KM po svakoj proizvedenoj toni peleta. U ovom radu se ne daju
413
pregledi vrijednosti subvencija na godinjem nivou za proizvedenu toplotu i gorivo ve

samo potencijalno uee subvencija u ukupnoj proizvodnoj cijeni toplote i goriva. Za
konkretna postrojenja mogli bi jednostavno izraunati vrijednost moguih subvencija
premnoavanjem sa ukupnim godinjim obimom proizvodnje toplote ili goriva.
4 ZAKLJUAK
Za uspjeno korienje obnovljivih izvora energije a posebno biomase, osim
praenja tehnolokih i naunih dostignua u ovoj oblasti, dominantan faktor svakako
predstavlja ekonomska pozadina cijelog procesa iskoritavanja obnovljivih energetskih
resursa. S obzirom da biomasa kao obnovljivi izvor energije predstavlja jedan
specifian oblik obnovljivog resura iz razloga to zavisi od snabdijevakog lanaca
gorivima od biomase. S druge strane posmatrano, Bosna i Hercegovina i Republika
Sprska raspolau sa znaajnim koliinama biomase, posebno ostatka drvnog porijekla,
od gazdovanja umama i iz primarne i sekundarne prerade drveta. Iz tih razloga
neophodno je pomoi ovakvom tipu obnovljivog energetskog resursa da bude
konkurentan na tritu energije. Ako se uzme u obzir i to da Republika Srpska i
Federacija Bosne i Hercegovine nemaju doneen zakon o toplotnoj energiji kao i da
nemaju razvijen sistem subvencioniranja toplotne energije i goriva proizvedenih iz
obnovljih izvora energije, ovakav pristup definisanju subvencioniranja niih energetskih
formi moe biti jako korisan za odreivanje vrijednosti subvencija u odnosu na
elektrinu energiju proizvedenu iz OIE.
Sa druge strane, otvara se jedno interesatno pitanje iz domena energetske
filozofije a koje glasi: Da li zaista vrijedi subvencionisati elektrinu energiju u efikasnim
kogeneracijama na biomasu, ako se samo subvencionise elektrina energija a toplotna
energija kao nusprodukt se ne iskoriava i ako e se opet ta ista subvencionisna
elektrina energija vraati na nii oblik kvaliteta, tj. koristiti za grijanje? Moda je bolje
subvencionisati tano definisane kapacitete za proizvodnju toplote i goriva uz
adekvatno planiranje svih postrojenja (za proizvodnju struje, toplote i goriva) a u skladu
sa potrebama trita energije? U svakom sluaju ovo pitanje otvara mnogo polemike i
diskusije i naravno pravce daljeg istraivanja.
LITERATURA
[1] http://www.worldenergyoutlook.org/
[2] Toro H, Schmidt D, (2011) Low- Exergy Systems for High Performance Buildings
and Communities.
[3] Muller A, Kranzl L, Tuominen P, Boelman E, Molinari M, Entrop AG, (2011)
Estimating exergy prices for energy carriers in heating systems: Country analyses
of exergy substitution with capital expenditures. Energy and Buildings. Vol. 43. pp.
3609-3617.
[4] Wall G, (1977) Exergy a useful concept within resource accounting. Report no.
77-42. Institute of Theoretical Physics. Chalmers University of Technology and
University of Goteborg.
[5] Sran Vaskovi, (2016), doktorska disertacija, Razvoj modela za ocjenu
prihvatlivosti energetskih lanaca pri proizvodnji energije i energenata iz biomase,
Univerzitet u Istonom Sarajevu, Mainski fakultet.
[6] http://www.apeor.com/images/Odluka_garantovane_otkupne_cijene_nov20131.pdf
414
_____________________________________________________________________________
ENERGETSKI I EKOLOKI ASPEKTI PROIZVODNJE ENERGIJE IZ

BIOGASA OD STAJNJAKA IVOTINJA
Stojan Simi 1, Goran Oraanin 2 Duan Golubovi 3 Davor Mili 4
Rezime: U poljoprivredi, tanije u stoarstvu stvaraju se velike koliine organskog

otpada od kojeg se moe proizvoditi biogas. Energija dobijena od ivotinjskog otpada
(stajnjaka) ima viestruku prednost koja nije samo u eliminisanju zagaenja ivotne
sredine, ve i u smanjenju trokova goriva u nekim granama industrije. ivotinjski
stajnjak predstavlja potencijalno veliki resurs za proizvodnju energije. Koliina biogasa
koja se moe dobiti iz ivotinjskih ekskremenata, zavisi od sadraja organskih materija
u njima i od stepena razgradnje organskih sastojaka prilikom anaerobne digestije. U
radu su razmatrani energetski i ekoloki aspekti proizvodnje energije iz biogasa od
stajnjaka ivotinja. Biogas kao gorivo za proizvodnju toplotne i elektrine energije
biljei stalni porast u energetskom bilansu veine zemalja, a koji e se nastaviti i u
narednom periodu.
Kljune rijei: stajnjak ivotinja, biogas, energetski i ekoloki efekti.
ENERGY AND ENVIRONMENTAL ASPECTS OF ENERGY PRODUCTION FROM

ANIMAL MANURE BIOGAS
Abstract: In agriculture, specifically in livestock produce large amounts of organic
waste which can produce biogas. The energy generated from animal waste (manure)
has many advantages that not only eliminate of environmental pollution, but also
reduce fuel costs in some industries. Animal manure is a potentially huge resource for
energy production. The amount of biogas that can be extracted from animal manure,
depending on the content of organic matter in them and the degree of decomposition
of organic substances in anaerobic digestion. The paper discusses the energy and
environmental aspects of energy production from biogas from manure of animals.
Biogas as fuel to produce heat and electricity recorded a steady increase in the energy
balance of most countries to be continue in the forthcoming period.
Key words: animal manure, biogas, energy and environmental effects.
1
Dr Stojan Simi, Mainski fakultet Istono Sarajevo, BIH, stojans@modricaoil.com
2 Dr Goran Oraanin, Mainski fakultet Istono Sarajevo, BIH, goranorasanin@yahoo.com
3 Dr Duan Golubovi, Mainski fakultet Istono Sarajevo, BIH, dusan.golubovic54@gmail.com
4 Mr Davor Mili, Mainski fakultet Istono Sarajevo, BIH,mdavor82@gmail.com
415
Stojan Simi, Goran Oraanin, Duan Golubovi, Davor Mili
1 UVOD
Proizvodnjom biogasa anaerobnom digestijom smanjuju se emisije metana i
azotnih oksida do kojih dolazi tokom odlaganja i korienja stajskog ubriva.
Korienjem biogasa smanjuje se potronja fosilnih goriva za proizvodnju energije i
pogonskog goriva, i znatno se smanjuje emisija ugljen-dioksida (CO2), metana (CH4) i
azot-oksida (N2O) to doprinosi ublaavanju pojave globalnog zagrijavanja.
Razvoj tehnike i tehnologije proizvodnje biogasa ide u pravcu skraenja vremena
zadravanja supstrata u digestoru. U tom pravcu razvijena su dva postupka [1]:
postupak sa korienjem produktivnijih hibridnih metanskih bakterija (ime se
skrauje vrijeme zadravanja za 10%, a poveava stepen razgradnje supstrata
na 50 do 70%),
postupak sa razdvojenim fazama digestije u kome se dobija biogas sa visokim
udjelom metana (od 80 do 85%), vremenom zadravanja supstrata od 4 do 6
dana i poveanjem stepena razgradnje organske materije na 80 do 90%.
U stoarstvu nastaju znatne koliine stajnjaka teljive i poluteljive
konzistencije koji se koristi za proizvodnju biogasa, gdje koliina proizvedenog biogasa
zavisi od koncetracije suve materije, ukupne koliine organske materije i prisustva
hranljivih komponenata potrebnih za razvoj mikroorganizama u stajnjaku, kao i
konstrukcije postrojenja u kome se vri anaerobna digestija.
Korienje ivotinjskih ekskremenata za anaerobnu digestiju ima odgovarajue
prednosti: prirodno sadre anaerobne bakterije, imaju relativno visok sadraj vode (4
do 8 % suve materije u tenom stajnjaku), relativno su jeftini i lako dostupni, sakupljaju
se kao otpad u stoarskim farmama.
U radu su razmatrani energetski i ekoloki aspekti proizvodnje energije iz
biogasa od stajnjaka ivotinja.
2 OSNOVNA SVOJSTVA IVOTINJSKOG STAJNJAKA KAO SIROVINE ZA

ANAEROBNU DIGESTIJU
Stajnjak je organsko ubrivo koje predstavlja smjeu vrstih i tenih
ekskremenata ivotinja i prostirke. Za stajnjak se obino kae da je potpuno ubrivo,
za razliku od vjetakih, koja su dopunska (nepotpuna). Sastav stajnjaka je razliit i
zavisi od vie inilaca. Uzima se da je prosjeno stajsko ubrivo sljedeeg sastava:
voda 75%, suva materija 25%, azot 0,5%, fosfor 0,15% i kalijum 0,6%.
Koliina proizvedenog stajnjaka zavisi od vrste stoke. Govee godinje daje
oko 9, a konj oko 7 t stajnjaka. Na sastav stajnjaka najvie utiu sljedei inioci: vrsta i
starost stoke, vrsta hraniva, cilj gajenja stoke (tov ili priplod), vrsta prostirke,
upravljanje stajnjakom, stepen razgradnje, i dr.
Svaka vrsta stoke daje razliit sastav ekskrementa (stajnjaka), to zavisi od
vrste hrane i naina varenja. Na primjer, konji i ovce daju stajnjak koji je suvlji i bogatiji
hranljivim sastojcima. Zato se konjski i oviji stajnjak bre razlau uz oslobaanje
mnogo toplote i zato se stajnjak ovih ivotinja svrstava u topao stajnjak. Govei
stajnjak sadri vie vode, a manje hranljivih sastojaka, pa se svrstava u hladan
stajnjak. Svinjski stajnjak moe da bude i topao i hladan, to zavisi od vrste hrane koju
svinje koriste. Stajnjak pernatih ivotinja je najkvalitetniji po svom sastavu, jer sadri
mnogo vie hranljivih sastojaka od prethodno pomenutih. I kod iste vrste stoke, sastav
je razliit, npr., mlada stoka bolje iskoriava hranu od starije, pa je njihov stajnjak
siromaniji hranljivim sastojcima. Tovna grla dobijaju vie zrnaste hrane, nego
priplodna, pa je njihov stajnjak bogatiji hranljivim sastojcima.
416
Energetski i ekoloki aspekti proizvodnje energije iz biogasa od stajnjaka ivotinja
U tabeli 1. je dat pregled osnovnih karakteristika stajnjaka ivotinja koji se

najee koriste pri procesu anaerobne digestije
Tabela 1. Karakteristike stajnjaka domaih ivotinja za anaerobnu digestiju [2]

*Odnos Suva **Prinos
Vrsta Organska
C/N materija biogasa Nepoeljne materije
supstrata materija
[-] [%] [m3/kg]
ugljeni hidrati,
Svinjski 0,25 slama, voda, antibiotici,
bjelanevine, 3 10 38
stajnjak 0,50 dezinfekciona sredstva
masti
dlake, slama, voda,
ugljeni hidrati, zemljite, antibiotici,
Govei 0,20
bjelanevine, 6 20 5 12 dezinfekciona sredstva,
stajnjak 0,30
masti
NH 4
kamenii, pijesak,
ugljeni hidrati, perje, antibiotici,
0,35
Izmet peradi bjelanevine, 3 10 10 30 dezinfekciona
0,60
masti sredstva, NH 4
* odnos ugljenika i azota (C/N)

** prinos biogasa u m3 po kg isparljive vrste materije
U tabeli 2. naveden je jedinini kapacitet biogasnih postrojenja u zavisnosti od
vrste tenog stajnjaka domaih ivotinja.
Tabela 2. Jedinini kapacitet biogasnih postrojenja za razliite vrste tenog stajnjaka

Vrsta stajnjaka Goveda Svinje Perad
Jedinini kapacitet postrojenja [ kW/SJ] 0,11 0,085 0,3
3 ENERGETSKI BILANS DIGESTORSKOG POSTROJENJA

Za rad digestorskog postrojenja potrebno je obezbijediti dovoljnu koliinu
toplotne i elektrine energije. Toplotna energija se koristi za odravanje potrebne
temperature u digestoru, a elektrina za transport, mijeanje i homogenizaciju
supstrata.
Na slici 1. prikazan je ukupan energetski bilans za konvencionalni tip digestora
sa kontinualnim mijeanjem i vremenom zadravanja supstrata od 20 dana. Digestor je
nadzemni, vertikalne konstrukcije i izraen je od nerajueg elika. Digestorska
posuda i cjevovodi su toplotno izolovani
417
Slika 1. Energetski bilans digestorskog postrojenja [1]
Energetski bilans na slici 1. je dat za digestor iji je kapacitet 150 t/dan i koji
kao supstrat koristi teni stajnjak domaih ivotinja (sa farme svinja). Potronja
energije za potrebe procesa je data u odnosu na ukupnu proizvodnju energije iz
biogasa dobijenog anaerobnom digestijom pri odgovarajuim procesnim uslovima
(radna temperatura 35oC, vrijeme zadravanja supstrata 20 dana, i dr.).
U digestorskom postrojenju najvea koliina energije se troi za zagrijavanje
svjeeg supstrata na radnu temperaturu i odravanje potrebne temperature za vrijeme
procesa. Od ukupne energije sadrane u biogasu 44% se koristi za sopstvene potrebe
digestora, dok se 56% moe iskoristiti za druge svrhe (sopstvena potronja, isporuka u
distributivnu mreu, i dr.). Za mijeanje i transport suspstrata troi se elektrina
energija to predstavlja ukupno oko 4%. Gubici usljed prolaza toplote kroz zidove
digestora iznose oko 3%. Potronja biogasa za zagrijavanje digestora zavisi od
temperature okoline i u toku zime je vea u odnosu na ljetnji period.
Udio energije koja je potrebna za transport, mijeanje i homogenizaciju
supstrata u ukupnoj potronji energije digestorskog postrojenja je mali, ali se mora
uzeti u obzir pri odreivanju ukupnog energetskog bilansa.
4 ENERGETSKI I EKOLOKI ASPEKTI PROIZVODNJE ENERGIJE IZ

BIOGASA
Biogas koji se dobija u digestorskim postrojenjima veih kapaciteta danas se
sve vie koristi za proizvodnju toplotne i elektrine energije.
Utvrivanje proizvodnje elektrine energije (kWh) se vri tako da se ukupno
dobijena energija pomnoi sa efikasnou sistema (efikasnost sistema za dobijanje
elektrine energije se kree u intervalu od 30 do 42% u zavisnosti od tipa sistema,
preporuka je da se usvaja za proraun oko 35%).
Utvrivanje proizvodnje toplotne energije (kWh) se vri tako da se ukupno
dobijena energija pomnoi sa efikasnou sistema (efikasnost sistema za dobijanje
toplotne energije se kree u intervalu od 40 do 60% u zavisnosti od tipa motora,
preporuka je da se usvaja za proraun oko 50%).
418
Energetski i ekoloki aspekti proizvodnje energije iz biogasa od stajnjaka ivotinja
U posljednje vrijeme sve veu primjenu imaju tehnologije kombinovane

proizvodnje toplotne i elektrine energije (sistem kogeneracije) iz biogasa. Kod
klasinih sistema konvertovanje energije iz biogasa u neki drugi vid energije (npr.
elektrinu) se ostvaruje sa priblino 36%, a 64% energije se gubi najee u vidu
toplotne energije. Kod sistema kogeneracije toplotna energija se dodatno koristi, pa
kod njih ukupni gubici iznose oko 10%.
Na slici 2. je prikazana uporedna analiza energetskog bilansa iskorienja
biogasa kod primjene klasinih sistema i sistema kogeneracije za istu koliinu ulazne
energije.
a) b)
Slika 2. Senkijevi dijagrami za sisteme termike konverzije biogasa: a sistem
kogeneracije, b klasini sistem [1]
Korienjem biogasa umjesto fosilnih goriva smanjuje se za 50% emisija

gasova koji izazivaju efekat staklene bate. Na slici 3. dat je uporedni prikaz emisije
ugljen-dioksida za postrojenje instaliranog kapaciteta 190 kW koje godinje proizvede
1,4 miliona kWh elektrine energije i 350 hiljada kWh toplote, kada kao energent koristi
fosilno gorivo i biogas dobijen anaerobnom digestijom supstrata sa 64% biootpada i
36% tenog ivotinjskog stajnjaka.
Slika 3. Emisija ugljen-dioksida za biogas i fosilna goriva [3]
419
Biogas je ekoloko gorivo koje se moe direktno koristiti ili se mora dodatno
preiavati od odreenih komponenti (ugljen-dioksid, vodonik-sulfid i vlaga) to zavisi
od uslova primjene. Njegova toplotna mo se kree u granicama od 19 700 do 26 870
kJ/m3, odnosno od 5,50 do 7,50 kWh/m 3 i direktno je proporcionalna koliini metana.
To znai da je svojstvo biogasa kao goriva u uskoj vezi sa sadrajem metana. U svim
oblastima primjene, biogas se ponaa kao prirodni gas, pa se moe svrstati u grupu
goriva koja imaju tipski sastav i Vobeov broj oko 24,50 to znai da se moe direktno
koristiti kao zamjena za prirodni gas i propan. Prednosti primjene biogasa kao goriva u
toplovodnim kotlovima, u odnosu na vrsta i tena goriva je u tome to sagorijeva
potpuno (bez ai i pepela) [4].
5 ZAKLJUAK
Sutinski izvor zagaenja ivotne sredine otpadom iz poljoprivredne
proizvodnje je koncentrisanje organskog otpada na relativno maloj povrini, zbog
intenzivne proizvodnje, naroito pri uzgoju stoke. Koliine poljoprivrednog otpada su
znaajne zato to uzgajalita stoke sa vie hiljada ili vie desetina hiljada grla daju
velike koliine stajskog otpada. ivotinjski stajnjak predstavlja potencijalno veliki resurs
za proizvodnju energije primjenom postupka anaerobne digestije.
Korienje biogasa iz stoarske proizvodnje za proizvodnju toplotne i elektrine
energije je opravdano iz sljedeih razloga:
obnovljiv izvor energije,
smanjenje posljedica globalnog zagrijavanja,
smanjenje zavisnosti od uvoza fosilnih goriva,
doprinosi ciljevima Evropske unije znaajnim za energetiku i ivotnu
sredinu,
smanjenje nastajanja otpada,
fleksibilan i produktivan energent, i dr.
Generalni je zakljuak da je proizvodnja toplotne i elektrine energije iz biogasa
dobijenog procesom anaerobne digestije opravdana sa energetskog i ekolokog
aspekta. Biogas kao gorivo za proizvodnju energije biljei stalni porast u energetskom
bilansu veine zemalja koji e se, prema procjenama strunjaka iz ove oblasti, nastaviti
i u narednom periodu.
LITERATURA
[1] Stanojevi, M., Simi, S., Jovovi, A., Radi, D., Obradovi, M., Todorovi,
D.(2014). Biogas dobijanje i primena, Mainski fakultet, Beograd.
[2] Al Seadi, T., D. Rutz, H. Prassl, M. Kttner, T. Finsterwalder, S. Volk, R.
Janssen. (2008). Big East, Biogas for Eastern Europe, Prirunik za bioplin,
Prevod sa engleskog jezika, Zagreb.
[3] Schler, M.( 05-06.05.2012). Obnovljiva energija kratki pregled Nemake i
Bavarske, Prezentacija, Srbijagas, Novi Sad i Beograd.
[4] Toti Bag, A. Proizvodnja i korienje biogasa u stoarstvu,
www.http//kgh.kvartetv.com/fajlovi/36.%20kongres/36-42.pdf
420
_____________________________________________________________________________
MOGUNOSTI I NAINI ISKORITENJA FOTONAPOSNKIH

SISTEMA U ZGRADARSTVU (BIPV)
Ernad abanovi1, Marko Iki2, Slobodan Lubura3, Milomir oja4
Rezime: U ovom radu su predstavljeni i opisani fotonaponski sistemi koji se mogu

koristiti u stambenim i poslovnim objektima kao graevinski materijal. Integrisani
fotonaponski sistemi - BIPV, kako se jo nazivaju, mogu u znaajnoj mjeri da utiu
kako na poveanje energetske efikasnosti tako i na smanjenje emisije CO 2 objekata na
kojima su ugraeni. Lokacije na kojima se postavljaju, materijali od kojih su sainjeni
fotonaponski moduli, te iskorienje ovakvih sistema su tema o kojoj e se razmatrati u
nastavku.
Kljune rijei: Fotonaponski sistem, BIPV, zgradarstvo
POTENTIAL AND WAY TO UTILIZE PV SYSTEMS IN PUBLIC BUILDINGS

Abstract: In this paper are presented and described photovoltaic systems that can be
used in residential and commercial buildings as construction materials. Building
Integrated Photovoltaics - BIPV, as they are called, can significantly affect on to
increase energy efficiency and the reduction of CO 2 emissions in the buildings where
they are installed. Locations where are placed, materials of which are photovoltaic
modules made up, and efficiency of this systems are a topic which will be discussed
below.
Key words: PV systems, BIPV, Public Buildings
1 UVOD
U posljednje vrijeme posebna panja istraivaa posveena je na poveanje
energetske efikasnosti fotonaponskih sistema koji tehnoloki ine sastavni dio
stambenih i poslovnih objekata, odnosno koji se direktno kao graevinski materijal
koriste u graevinarstvu. Ovi fotonaponski sistemi mogu biti postavleni na krovove ili
1 Ernad abanovi, dipl. in. el., JP Elektroprivreda BiH d.d. Sarajevo ZD RMU Zenica d.o.o. Zenica, Zenica,
BiH, ernad_shabanovic@hotmail.com
2 Marko Iki, mr, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH, marko.ikic@etf.unssa.rs.ba
3 Dr Slobodan Lubura, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH,
slobodan.lubura@etf.unssa.rs.ba
4 Dr Milomir oja, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH,
milomir.soja@etf.unssa.rs.ba
421
Ernad abanovi, Marko Iki, Slobodan Lubura, Milomir oja
initi dijelove fasada zgrada, a u nekim savremenim arhitektonskim rjeenjima ine

zasebne cjeline. Bez obzira na tehnologiju koja se koristi za izradu ovog novog
graevinskog materijala sve ove fotonaponske instalacije su preko ureaja
energetske elektronike povezane na gradsku mreu sa kojom zajedno slue za lokalno
napajanje zgrade na koju su postavlene.
Postoji vie razloga to se danas preferira i podstie ta lokalna proizvodnja
energije:
Smanjena novana izdavanja za energiju,
Energija se proizvodi tamo gdje se i troi (u zgradi) pa nema gubitaka prenosa
u odnosu na klasini sistem distribucije energije,
Postoje neiskoriteni dijelovi krovova i fasada zgrada koji se mogu iskoristiti za
proizvodnju energije,
Korienje obnovlivih izvora energije doprinosi ouvanju ivotne sredine,
smanjenju emisije CO2 itd...
Poto je proizvodnja energije u zgradi to se korisnicima podie svjest o vanosti
energije u cjelini i podstie poveanje energetske efikasnosti od strane
korisnika.
Da bi se koncept integrisanih fotonaponskih sistema u graevinarstvu mogao
efikasno koristiti i primjenjivati u praksi pokrenuta su istraivanja u tri klune
oblasti:
Arhitektura energetski efikasnih zgrada,
Nove tehnologije proizvodnje fotonaponskih sistema (panela),
Razvoj ureaja energetske elektronike za poveanje proizvodnje elektrine
energije u integrisanim fotonaponskim sistemima (panela), odnosno poveanje
energetske efikasnosti zgrade.
2 INTEGRISANI FOTONAPONSKI SISTEMI (BIPV)

Prema svjetskim istraivanjima, zahtjevi zgrada (rezidencijalnog i
komercijalnog sektora) za elektrinom energijom su priblino 40% od ukupne potronje
energije. Ako se uzmu dananje konvencionalne elektrane koje koriste ograniena
fosilna goriva, potreba za iskoritavanjem solarne i drugih oblika obnovljive energije je
neizbjena i jednostavno prijeko potrebna. Poveavanjem uticaja potroaa i
konkurentnosti razliitih kompanija na smanjenje cijena fotonaponskih sistema, dovelo
je do razvoja novijih primjena fotonaponskih sistema koje bi se trebale upotpunosti
integrisati u graevinske objekte. Ovakvi fotonaponski sistemi se nazivaju integrisanim
fotonaponskim sistemima ili BIPV (Building Integrated Photovoltaics). Ovakvi
fotonaponski sistemi mogu da se ugrade u skoro svaku graevinsku strukturu, od
autobuskih stajalita do velikih poslovnih i stambenih zgrada. Iako precizna prognoza
fotonaponskog dejstva u zgradama zahtijeva paljivu analizu uticaja razliitih faktora
kao to su koliina sunevog zraenja koje dolazi na povrinu zgrade, stabilnost i
kvalitet elektrinih instalacija, elektro-distributivne mree itd., lako je pretpostaviti da
ovakva tehnologija ima velike mogunosti i svijetlu budunost. ak i u klimatskim
uslovima koji se karakteriu srednjom sunevom ozraenou, krov zgrade jednog
domainstva dovoljan je za postavljanje fotonaponskog sistema koji mu moe
obezbijediti dovoljno elektrine energije u toku cijele godine [1]. Neki primjeri
instaliranja BIPV sistema prikazani su na slici 1. Prednost integrisanih fotonaponskih
modula nad uobiajenim neintegrisanim sistemima je u tome to se poetni trokovi
neutralizuju redukcijom koliine utroenog graevinskog materijala i radne snage
potrebne za izgradnju dijela zgrade koga zamjenjuju ovi moduli. Ove prednosti ine
integrisane module segmentom fotonaponske industrije koji se najbre razvija. Pa tako
422
Mogunosti i naini iskoritenja fotonaposnkih sistema u zgradarstvu (BIPV)
fotonaponski moduli, za razliku od drugih graevinskih materijala, proizvode energiju i

stoga pruaju vlasniku mogunost da povrati poetnu investiciju u njihovu ugradnju [2].
Slika 1. Primjer upotrebe BIPV sistema na poznatim svjetskim kompanijama u

Njemakoj, Kini i Japanu [3]
Mnoge poznate kompanije su ve poele primjenjivati nove tehnolofije

fotonaponskih sistema tako da su na svojim objektima iskoristili fotonaponske module
ili kao krovove ili kao fasade. Iz tih razloga BIPV sistemi nude znaajne prednosti i
otvaraju mnoge kreativne mogunosti projektantima. Primjena je danas prisutna na
razliitim mjestima objekta, kao to su: krovovi, spoljanji zidovi, polu-transparentne
(polu-prozirne) fasade, stakleni krovovi i zasjenenja. Na slici 2. dati su primjeri
mogue lokacije ugradnje BIPV sistema na odreeni objekat.
Slika 2. Mogue lokacije BIPV sistema na objektima [3]
Ponekad kod definisanja BIPV sistema vlada vie razliitih miljenja. Razlika se
ogleda u tome koliko je zapravo fotonaponski modul integrisan u graevinskim
objektima. Ipak potpuni BIPV sistem predstavlja multifunkcionalan sistem koji uz
423
proizvodnju elektrine energije mijenja i ustaljene graevinske materijale. No meutim,

danas se esto mogu sresti fotonaponski sistemi koji ne preuzimaju ulogu graevinskih
materijala pa predstavljaju polu-integrisane fotonaponske sisteme. Ovakvi sistemi se
nazivaju primjenjenim fotonaponskim sistemima ili BAPV (Building Applied
Photovoltaics), gdje se fotonaponski moduli dodaju na ve postojee graevinske
objekte. Na slici 3. dati su primjeri stepena integracije fotonaponskih modula na
stambenim objektima.
Slika 3. Primjeri stepena integracije fotonaponskih modula na objektima [4]
Iz svega reenog, jasno je da BIPV sistemi moraju da zadovolje vie zahtjeva

kako bi bili u mogunosti zamijeniti standardne graevinske materijale. Pored
proizvodnje elektrine energije BIPV sistemi moraju pruiti i ostali ugoaj objekta kao
to su: termo i hidro izolacija, zatitu od sunca, buke i svjetlosti, kao i bezbjednost. Ako
se uzme u obzir sve ove uloge koje bi BIPV sistemi trebali preuzeti, cijena ulaganja u
ovakve sisteme postaje prihvatljivija, s obzirom da zamijenjuje ve pojedine elemente
jednog objekta, a pored toga obezbijeuju besplatnu elektrinu energiju.
3 VRSTE FOTONAPONSKIH MODULA U BIPV SISTEMIMA

Fotonaponski moduli bazirani na silicijskoj tehnologiji su najvie raireni i
zastupljeni na dananjem tritu. Ponajvie zbog prihvatljivog odnosa cijene i
efikasnosti, ali i zbog razliitosti u samom izgledu takvih modula. Upravo zbog
spomenutih prednosti silicijumski fotonaponski moduli pronali su i upotrebu u BIPV
sistemima. Najvie se koriste, za krovne konstrukcije i to kao neprozirne ili
poluprozirne krovove. Bez obzira na iroke mogunosti ove tehnologije, silicijumski
fotonaponski moduli u BIPV sistemima imaju znaajna tehnika ogranienja. Najvei
problemi koji se javljaju kod silicijumskih fotonaponskih modula su znaajno
pogoranje karakteristika modula uslijed poveanja temperature i poveanja sjene od
strane okolnih objekata. Na slici 4. dati su u procentima uea pojedinih vrsta modula
u BIPV sistemima za 2013 godinu.
424
Slika 4. Trini udio pojedinih FN modula u BIPV sistemima [5]
Tehnologije tankog filma (TF) iako imaju niz loijih osobina u odnosu na
silicijumske fotonaponske module i dalje su se zadrale kod BIPV sistema.
Uporeivajui ove dvije vrste modula efikasnost je znatno via kod silicijumskih (ovo je
injenica ako se uzmu laboratorijski uslovi, silicijski moduli gube svoje osobine kod
manjih promjena temperature i pojave sjene na modulima). Uzimajui u obzir da su
objekti esto u zasjenjenim dijelovima, u nekim situacijama TF tehnologije mogu biti i
efikasnije od silicijumskih, jer su moduli na TF tehnologiji manje zavisini od pojave
sjene na djelovima modula. Osim toga ako se uporede cijene kotanja, moduli na bazi
TF tehnologije su znatno jeftiniji od silicijskih i otprilike cijene za pojedine module
prema kvadratnom metru su 40 za TF, odnosno 120-200 za silicijumske. Ako se
jo uzme u obzir da se ti moduli moraju, u BIPV sistemu, integrisati sa odreenim
graevinski materijalima onda je cijena znaajno povoljnija ako se koriste moduli na
bazi tehnologije tankog filma. Trea prednost koja krasi TF modul za razliku od
silicijumskih jeste i vea fleksibilnost i mogunost izvedbe polu-prozirnog modula.
Najznaajniji predstavnik modula tankog filma jeste CIS (CIGS, bakar-indijum-
diselenid) modul.
4 KATEGORIJE BIPV SISTEMA

Krovovi objekata su idealne lokacije za ugradnju BIPV sisteme zbog
mogunosti postavljanja sistema pod optimalnim uglom u odnosu na suneve zrake pri
emu se postie maksimalno iskorienje fotonaponskih modula. Zamjenom
standardnih krovova sa fotonaponskim modulima potrebno je obezbijediti
nepropusnost i zaptivenost dijelova gdje dolazi do preklapanja pojedinih modula.
Alternativa arhitektima su moduli sa okvirima, koji se najee izbjegavaju zbog manje
atraktivnosti, pa je mnogo efikasnije, ali i preglednije koristiti cijelu povrinu krova za
BIPV sisteme. Polikristalni (plave boje) i monokristalni (crne boje) silicijumski moduli se
najee koriste kod BIPV sistema na krovovima objekata. Ukoliko se moduli
postavljaju na ve postojeu konstrukciju krova (BAPV) tada se ee koriste TF
moduli zbog svoje manje teine. Takoe, postoji i mogunost da se upotpunosti
standardni crijep zamijeni fotonaponskim i na taj nain da se dobije i na efikasnosti i na
preglednosti krova. Mana ovog naina ugradnje je pojava dodatnog oienja jer svaki
fotonaponski crijep bi trebao imati svoj prikljuak, pa se takoe i za svaki mora
obezbijediti i nepropustivost itd. Ipak mnoge firme su prihvatile proizvodnju veih
krovnih dijelova (segmenata) u veliini od 2 m. [3]. Na slici 5. dati su primjeri izrade
fotonaponskih modula kao crijep i kao ploa, a koje upotpunosti zamjenjuju standardne
krovne dijelove. Pored ravnih krovnih kategorija BIPV sistema postoje i potreba za
zakrivljenim krovovima, pa se na tim vrstama koriste najee moduli sa tankim filmom
zbog svoje fleksibilne prirode.
425
Slika 5. Kategorije izrade krovnih segmenata BIPV sistema [6]
Drugo najznaajnije polje upotrebe BIPV sistema su fasadni dijelovi objekata

na kojima se mogu koristiti sve vrste fotonaponskih modula [3]. Potrebno je obezbijediti
ravnoteu izmeu dnevne svjetlosti i sjene, kao i voditi rauna o termo izolaciji i izgledu
kako bi se fotonaponski modul upotpuno integrisao u postojei objekat. Za fasadne
izvedbe ee se koriste TF moduli jer su se pokazale puno boljim od silicijumskih,
tanije efikasnijim jer silicijumski u vertikalnoj izvedbi i pojavom sjene daju i do 40%
manje izlazne snage/energije. Drugi oblik BIPV fasadnih oblika jeste postavljanje
fotonaponskih modula pod odreenim uglom i na taj nain omoguiti upijanje svjetla i
zraka, a zatita od kie, buke i direktnog odsjaja Sunca [6]. Fasadni oblik BIPV sistema
je dosta sloeniji od krovnog i ima dosta vie potreba i zahtjeva kako bi se obezbijedila
potpuna integracija fotonaponskih modula [3]. Na slici 6. dati su primjeri upotrebe oba
oblika fasadbih BIPV sistema.
Slika 6. Kategorije izrade fasadnih segmenata BIPV sistema [6]
5 PROCJENA EFIKASNOSTI PROIZVODNJE BIPV SISTEMA

Za procjenu efikasnosti i proizvodnje elektrine energije iz BIPV sistema moe
posluiti informacioni sistem PVGIS (Photovoltaic Geographical Information System)
[7]. Ovaj sistem predstavlja aktivnu bazu podataka o resursima solarne energije za
Evropu, Afriku i dijelove Azije te vri procjenu proizvodnje elektrine energije iz
fotonaposnkih sistema na bazi ovih podataka.
Da bi se odredila procjena proizvodnje i efikasnost iskorienja BIPV sistema
instaliranih na nekoliko razliitih dijelova objekta na teritoriji grada Sarajeva upotrijebie
se informacioni sistem PVGIS. Za razliita mjesta ugradnje sistema (krov 0, fasada
90 i zasjenenje 35 - to priblino odgovara optimalnom uglu postavljanja
426
fotonaponskih modula za ovu lokaciju) i razliite tehnologije izrade fotonaponskih

modula, predstavie se grafiki i tabelarno procjena proizvodnje elektrine energije i
efikasnost proizvodnje u zavisnosti od mjesta ugradnje sistema i same tehnologije
izrade upotrebljenih modula.
Tabela 1: Procjena proizvodnje BIPV sistema preko PVGIS

Mjesto ugradnje sistema na objektu
BIPV sistem od 1 kWp
instalisanog kapaciteta Zasjenenje
Krov (0) Fasada (90)
(35)
Globalna iradijacija (kWh/m2) na
1330 1510 975
modul
Procjenjena Si 1070 1190 784
proizvodnja
BIPV sistema CIS 1090 1230 795
(kWh/god)
Proizvodnja BIPV sistema po mjesecu u zavisnosti od

mjesta ugradnje i tehnologije izrade modula
180
CIS__0
CIS__35
160 CIS__90
Si__0
Si__35
140
Si__90
Mjesecna proizvodnja el. energije [kWh/m]
120
100
80
60
40
20
0
1 2 3 4 5 6 7 8 9 10 11 12
Mjeseci
Slika 7. Mjesena procjena proizvodnje elektrine energije BIPV sistema u zavisnosti

od mjesta ugradnje i tehnologije izrade modula
Za BIPV sistem, instalisanog kapaciteta fotonaponskih modula od 1 kWp,

izvrena je procjena proizvodnje elektrine energije iji su rezultati prikazani u tabeli 1 i
na slici 7. Iz tabele 1 je oigledno da se najbolja iskorienost sistema dobija ukoliko je
sistem orjentisan prema optimalnom uglu. Takoe se pokazalo da sistemi sa
ugraenim modulima na bazi tehnologije tankog filma (CIS) imaju bolje iskorienje od
modula na bazi silicijuma. Iako je, sa slike 7, najvea proizvodnja elektrine energije u
ljetnim mjesecima postignuta sa sistem instaliranim na krovu objekta, gledano na
godinjem nivou najbolje je iskoriten sistem orjentisan pod optimalnim uglom.
427
6 ZAKLJUCI
Na osnovu izloenog, jasno je da BIPV sistemi imaju jasnu budunost pri
integraciji fotonaponskih sistema u oblasti graevinarstva. Trenutno, fotonaponski
moduli na bazi polikristalnog silicijum se najee koriste u ovim sistemima, ali se
predvia u bliskoj budunosti, posebno razvojem tehnologije materijala, znaajnija
upotreba modula na bazi tankog filma koji e zbog nie cijene, poveane efikasnosti i
vee fleksibilnosti modula biti praktino nezamjenjivi graevinski materijal BIPV
sistema. U ovom radu, pored osnovne podjele fotonaponskih sistema i moguih naina
upotrebe istih u graevinarstvu, prikazana je i efikasnost BIPV sistema u proizvodnji
elektrine energije kako u zavisnosti od tehnologije materijala od kojeg su izraeni
sami moduli tako i u zavisnosti od mjesta ugradnje sistema na objektu.
ZAHVALNOST
Rad je nastao u okviru projekta
E
, finansiran od strane
Ministarstva nauke i tehnologije u Vladi Republike Srpske, 2014. godine.
LITERATURA
[1] Ljubisav Stameni (2009). Korienje solarne fotonaponske energije u Srbiji,
Jefferson Institute, p.p. 19., Beograd
[2] Milica Vujoevi (2010). Fasada koja proizvodi energiju. Estetske, ekoloke I
energetske karakteristike fotonaponskih panela. Nauni-struni simpozijum
Instalacije I arhitektura, Beograd.
[3] Sheng Cheng (2009). Curved photovoltaic surface optimization for BIPV.
University of London, London.
[4] Ted H., Alan G., Michael W., Robert M., Sean O. (2011). Building-Integrated
Photovoltaics (BIPV) in the Residential Sector: An Analysis of Installed Rooftop
System Prices, NREL, Sprinfield.
[5] Patrick H, Christophe B., Laure-Emmanuelle P.-A. (2013). Building integrated
photovoltaics (BIPV): Review, Potentials, Barriers, Myths. De Gruyter, Berlin.
[6] Kostas S., Menno van den D. (2013), State of the art in Building Integrated
Photovoltaics, SEAC, Holandija.
[7] http://re.jrc.ec.europa.eu/pvgis/apps4/pvest.php, oktobar 2016.
428
_____________________________________________________________________________
POVEZIVANJE FOTONAPONSKIH SISTEMA NA MREU. IZBOR

TOPOLOGIJE PRIKLUKA
Ernad abanovi1, Marko Iki2, Slobodan Lubura3, Milomir oja4
Rezime: U ovom radu predstavljeni su naini prikljuivanja fotonaponskih sistema na

distributivnu mreu. Generalno, fotonaponski sistemi, preko ureaja energetske
elektronike, mogu se prikljuivati na nekoliko naina. Neke od najee primjenjenijih
konfiguracija prikljuka su na bazi upotrebe string invertora, optimajzera snage i
mikroinvertora. Pored navedenih konfiguracija, u radu su opisane i osnovne
karakteristike pretvaraa kao i meusobne razlike i prednosti jednih u odnosu na
druge. Kao konkretni primjeri mikroinvertora i optimajzera snage, budunosti
prikljuaka, prikazani su pretvarai proizvoaa STMicroelectronics.
Kljune rijei: Fotonaponski sistem; string invertor, optimajzer snage; mikroinvertor
CONNECTING PV SYSTEMS ON THE GRID. SELECTION OF CONNECTION

TOPOLOGY
Abstract: The paper presents the ways of connecting photovoltaic systems to the
distribution grid. Generaly, PV systems, using power converters, can be connected on
several ways. Some of the most used connection topology are based on string inverter,
power optimizer and microinverter. Beside mentioned topologies, it is described and
main characteristics of these converters and their differences and benefits compared to
each outher. Microinverter and power optimizers, as concrete examples of future
connection, are shown here, taken by STMicroelectronics company.
Key words: PV systems; string inverter; power optimizer; microinverter
1 UVOD
Globalni razvoj drutva je uveliko povezan sa obezbjeivanjem elektrine
1 Ernad abanovi, dipl. in. el., JP Elektroprivreda BiH d.d. Sarajevo ZD RMU Zenica d.o.o. Zenica, Zenica,
BiH, ernad_shabanovic@hotmail.com
2 Marko Iki, mr, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH, marko.ikic@etf.unssa.rs.ba
3 Dr Slobodan Lubura, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH,
slobodan.lubura@etf.unssa.rs.ba
4 Dr Milomir oja, Elektrotehniki fakultet Istono Sarajevo, Istono Sarajevo, BiH,
milomir.soja@etf.unssa.rs.ba
429
energije. Trend rasta potreba za elektrinom energijom na svjetskom nivou iznosi oko
2,8 % godinje. Ako se uzme proizvodnja elektrine energije samo iz konvencionalnih
izvora (ugljen, nafta, plin, nuklearna goriva) nemogue je odgovoriti na sve potrebe
potroaa. Osim toga ovi izvori su ogranieni i imaju najvei udio u emisiji ugljen
dioksida CO2 koji doprinosi globalnom zatopljenju i klimatskim promjenama. Upravo
zbog svih ovih nabrojanih injenica, kao rjeenje se namee potreba za istraivanjem i
razvijanjem tehnologija koja bi omoguila iskoritavanje obnovljivih izvora kao to su:
energija Sunca, energija vjetra, geotermalne energije, energija biomase i otpada,
energija plime i osjeke, energija morskih struja, vodonika i slino. Poveani interes za
razvojem i instalisanjem fotonaponskih (FN) sistema u posljednjih nekoliko godina
pokazuju, da e ovaj obnovljivi izvor imati vanu ulogu u odrivom elektroenergetskom
sistemu. Procjene isplativosti uvoenja ovih obnovljivih izvora uveliko zavise od
osnovnih parametara FN modula (panela) i pretvaraa. Koritenje obnovljivih izvora
energije donosi energetsku sigurnost, smanjenje zavisnosti o energiji iz uvoza, razvoju
lokalne industrije, poveanje mogunosti zapoljavanja domae radne snage i kao
najvanija i najdugoronija korist, pozitivan odnos prema okolini.
2 MOGUNOSTI PRIKLJUIVANJA FOTONAPONSKIH MODULA

Fotonaponski paneli se sastoje od solarnih elija, koje pretvaraju energiju
sunevog zraenja (radijacije) u elektrinu energiju. Solarne elije mogu biti
napravljene od razliitih poluprovodnikih materijala (Si, CdTe, CIS, itd.). Kada su
izloene djelovanju sunevog zraenja, solarne elije provode jednosmjernu elektrinu
struju, ija jaina zavisi od raznih faktora, kao to su intenzitet sunevog zraenja,
temperatura, zasjenjivanje pojedinih elija, itd. Serijskim i paralelnim vezivanjem vie
solarnih elija nastaje solarni modul [2]. Fotonaponski sistemi su cjelokupna
postrojenja za proizvodnju elektrine energije iz energije sunevog zraenja.
Fotonaponski solarni sistemi se mogu podijeliti u dvije osnovne skupine: samostalni
fotonaponski sistemi koji nisu prikljueni na javnu elektroenergetsku (EE) mreu (off
grid, stand alone system) i fotonaponski sistemi koji su prikljueni na javnu EE mreu
(on grid). Osnovna podjela fotonaponskih sistema prema nainu prikljuenja i
instaliranja je data na slici 1.
Namjena autonomnih (samostalnih) fotonaponskih sistema najee je opskrba
elektrinom energijom potroaa udaljenih od javne elektrine mree. Zbog nestalnog
rada fotonaponskih modula ovakvi sistemi zahtjevaju koritenje akumulatorskih baterija
za pohranu energije ili upotrebu i nekih drugih izvora elektrine energije
(vjetrogenerator, dizel generator) radi opskrbe tokom noi ili oblanih dana. Prilikom
dimenzionisanja autonomnih fotonaponskih sistema bitno je ispravno utvrditi potronju
energije, procijeniti mogunost proizvodnje i odrediti kapacitet akumulatorske baterije.
Osnovna namjena mreno spojenih fotonaponskih sistema je proizvodnja i
predaja elektrine energije u mreu. U tom smislu, ovakvi sistemi se dimenzioniu tako
da ostave najveu moguu proizvodnju energije, u skladu s prostornim i financijskim
mogunostima. Osim toga postoje i drugi razlozi koji se ogledaju u izbjegavanju
dodatne izgradnje mrea i velikih proizvodnih jedinica, poveanje raspoloivosti
distributivne mree itd. Ono o emu treba da se vodi rauna prilikom upotrebe ovih
sistema jeste poveanje struje kratkog spoja, naruavanje osjetljivosti elektrine
mree, dodatni gubici u mrei i uticaj na kvalitet elektrine energije. Opet sve ove
spomenute prednosti i mane zavise od snage fotonaponskog sistema, karakteristika
distributivne mree i osobine potroaa na mjestu prikljuka.
430
Povezivanje fotonaponskih sistema na mreu. Izbor topologije prikljuaka
Fotonaponski sistemi
Samostalni fotonaponski Fotonaponski sistemi

sistemi prikljueni na mreu
Sa skladitenjem Bez skladitenja Fotonaponski

sistemi direktno
elektrine elektrine Hibridni sistemi prikljueni na
energije energije mreu
Samostalni Sa dodatnim Fotonaponski

jednosmjerni obnovljivim sistemi prikljueni
sistemi izvorom energije na mreu preko
kune instalacije
Samostalni
naizmjenini Sa kogeneracijom
sistemi
Sistemi manje
Sa dizel agregatima
snage
Sa gorivim elijama
Slika 1. Podjela fotonaponskih sistema [1]
Kod fotonaponskog sistema na krovu kue osim proizvedene elektrine

energije predane u mreu, postoji i potronja elektrine energije obiteljske kue.
Spajanje s mreom moe se oblikovati na dva naina. U prvom nainu, izlazna struja iz
sistema slui za snabdijevanje potroaa u kuanstvu, a proizvedeni viak se mjeri i
daje u mreu. Drugi mogui nain spajanja je taj da se fotonaponski sistem nakon
invertora i mjernog brojila direktno spaja na mreu, tj. sva proizvedena elektrina
energija se daje u mreu, a potroa se napaja preko drugog voda koji ima svoje
brojilo. Drugi nain je povoljniji za potroae obzirom da se proizvodnja iz sistema
obnovljivih izvora financijski podstie, pa se tako moe vie zaraditi putajui svu
elektrinu energiju u mreu [3].
3 IZBOR PRETVARAA U FN SISTEMU
Prilikom izbora topologije fotonaponskog sistema, potrebno je izabrati i vrstu

pretvaraa pomou kojeg e se uspjeno ostvariti ili direktno napajanje naizmjeninih
potroaa ili distribucija elektrine energije u mreu. Naime tu postoje tri tipa
pretvaraa koje se trenutno koriste u fotonaponskim sistemima
centralizovani invertor ili string invertori (centralized / string inverter),

mikroinvertor (microinverter) i
optimajzer snage (power optimizer).
U prolosti se uglavnom koristila tehnologija sa centralnim invertorom, koji je
spajao vei broj fotonaponskih modula sa mreom. Fotonaponski moduli su spajani u
431
serijske veze, tzv. stringove, svaki sa dovolno velikim naponom, tako da dale
pojaanje nije bilo potrebno. Stringovi se dale vezuju paralelno, preko string dioda,
radi postizanja odgovarajue snage. Osnovni nedostaci tehnologije sa centralnim
invertorom su: upotreba visokonaponskih DC kablova za povezivanje fotonaponskih
modula i invertora, gubici snage zbog centralizovanog MPPT, gubici zbog razlika u
fotonaponskim modulima, gubici u string diodama, nefleksibilno projektovanje, te
nemogunost masovne proizvodnje. Stepen za povezivanje sa mreom bio je esto
realizovan sa tiristorima, to je za posljedicu imalo znaajno generisanje harmonika i
lo kvalitet elektrine energije.
Trenutno najzastupljeniji koncept povezivanja sistema je preko string invertora,
slika 2. Nakon odgovarajueg povezivanja fotonaponskih panela u stringove svi
zajedno se povezuju na jedan centralni invertor, iji je zadatak da dobijeni jednosmjerni
napon transformie u prihvatljivi naizmjenini (mreni) napon. Ovaj nain povezivanja
nije efikasan u sluaju osjenjavanja jednog dijela fotonaponskih panela. Ukoliko je
samo jedan panel fotonaponskog sistema osjenen, izlazna snaga cijelog tog sistema
e biti umanjena u odnosu na nazivnu i definisana snagom stringa u kojoj je osjeneni
fotonaponski panel, bez obzira to su svi ostali paneli u osunanom dijelu. Takoe, jo
jedna mana ove konfiguracije sistema se ogleda u pouzdanosti, ukoliko se koristi
centralizovani sistem, ako doe do kvara invertora, cijeli sistem trpi taj kvar odnosno
ne postoji protok energije sa panela ka potroaima/mrei. Pouzdanost sistema se
moe poboljati na nain da svaki string ima svoj invertor, to poskupljuje instalaciju
cjelokupnog sistema.
DC
AC
String ili centralni

invertor
PV moduli povezani na string invertor
Slika 2. Povezivanje panela sa centralizovanim ili string invertorom
Poznate kompanije koje proizvode kvalitetne string invertore su SMA, ABB,

Power-One i Fronius.
Svi prethodno nabrojani nedostaci povezivanja fotonaponskih sistema preko
string invertora se mogu uspjeno prevazii upotrebom invertora sa MLPE
tehnologijom (Module Level Power Electronics), bilo upotrebom mikroinvertora ili
optimajzera snage. Paneli koji su zasjenjeni ili imaju orijentaciju prema slabo ozraenoj
strani i pri tome su prilkjueni na invertor sa MLPE tehnologijom ne umanjuju snagu
ostalih panela u fotonaponskom sistemu. Osim toga iz tih panela invertori zbog svojih
specifinih konfiguracija nastoje izvui maksimalnu moguu snagu, to znai da se i u
nepovoljnim uslovima iz panela moe oekivati znaajna vrijednost struje. Kako svaki
invertor nastoji iz panela izvui maksimalnu snagu time se efikasnost ovih sistema
uveliko poveava u odnosu na sisteme sa string invertorima. Najvei nedostatak MLPE
invertora jeste cijena i oni su skuplji od string invertora za 30-40 % [7].
Mikroinvertori pretvaraju jednosmjernu struju u naizmjeninu i namjenjeni su za
povezivanje sa jednim fotonaponskim modulom (najee do 300 W), slika 3. Glavna
razlika izmeu optimajzera snage (koji predstavlja DC-DC pretvara) i mikroinvertora je
u tome to optimajzer zahtjeva koritenje centralnog invertora iza sebe ka
naizmjeninom potroau/mrei, pa time smanjuje pouzdanost ukupnog sistema jer
432
ukoliko doe do kvara na centralnom invertoru cijeli sistem je u kvaru. Takoe, u

sluaju proirenja postojeih fotonaponskih sistema prednost upotrebe mikroinvertora
u odnosu na optimajzere se ogleda u injenici da nije potrebna nabavka novog
centralnog invertora, to dodatno poskupljuje cijelu investiciju. Najpoznatiji proizvoai
ove linije invertora su Enphase, SolarBridge, Enecsys, SMA, odnosno za optimajzere
snage SolarEdge i Tigo Energy.
PV moduli povezani preko mikroinvertora
Slika 3. Povezivanje panela preko mikroinvertora
DC
AC
String ili centralni

invertor
PV moduli povezani preko optimajzera snage
Slika 4. Povezivanje panela preko optimajzera snage
U Tabeli 1. tada je usporedba prethodno spomenuta tri tipa pretvaraa kod FN

sistema: string invertora, mikroinvertora i optimajzera.
433
Tabela 1. Usporedba pretvaraa u FN sistemu [6]
USPOREDBA PRETVARAA: STRING INVERTOR, MIKROINVERTOR, OPTIMAJZER
Tip pretvaraa String invertor Mikroinvertor Optimajzer snage
Cijena Najnia Najvia Visoka
Efikasnost Niska Visoka Visoka
Garancija 5-10 god. 25 god. 25 god.
Osobine kada su pojedini

Slabe Dobre Dobre
paneli zasjenjeni
Osobine kada paneli

Slabe Dobre Dobre
imaju razliite orijentacije
Koliina elektronike na
Najmanje Veina Srednje
krovu
Na krovu; na poleini
Obino u blizini Na krovu; na poleini FN panela
Mjesto ugradnje
FN panela FN panela Centralni invertor u
blizini FN panela
4 MIKROINVERTOR I OPTIMAJZERI SNAGE PROIZVOAA

STMICROELECTRONICS
Kao primjere mikroinvertora i optimajzera snage uzee se firma
STMicroelectronics sa svojom STEVAL linijom proizvoda.
Mikroinvertor sastoji se od galvanski izolovanog DC-DC podizaa napona i
visokofrekventnog DC-AC pretvaraa. Sva upravljanja se vode preko mikrokontrolera
STM32 (microcontroller) koji omoguuje praenje take maksimuma snage (MPPT) na
ulazu mikroinvertora i kontrolu aktivne i reaktivne snage na njegovom izlazu. Blok
dijagram mikroinvertora je dat na slici 4. Algoritam upravljanja je razvijen tako da
podrava frekvenciju mree od 50 i od 60 Hz (230 V i 240 V), a ukoliko je sistem od
120 V AC tada su potrebne odreene modifikacije hardvera.
434
Slika 4. Blok dijagram mikroinvertora [8]
DC-DC pretvara ima ulogu da povea amplitudu napona iz FN modula do 400

V i odgovoran je za implementaciju praenja take maksimuma snage (MPPT).
Poveavanje amplitude napona je mogue ostvariti kroz poveavanje kondenzatora ili
koritenjem visokofrekventnog (VF, HF; high frequency) tranformatora. U ovom sluaju
koriten je VF transformator jer se time dobija i neophodna galvanska izolovanost.
Ovaj mikroinvertor podrava ulazni napon od 18-56 V i uz dvostruki nivo pretvaranja
omoguuje efikasnost i do 94 %.
U zavisnosti od veliine snage STMicroelectronics nudi dva tipa optimajzera,
sa niim i viim izlaznim naponom. Optimajzer snage sa niim izlaznim naponom
baziran je na DC-DC podizau napona koji je dizajniran da generie maksimalnu
snagu iz fotonaponskih panela shodno temperature i vrijednosti solarne radijacije. To
optimajzer postie pomou MPPT i P&O (Perturb i Observe) algoritma. Ukupna snaga
ovih pretvaraa je do 250 W sa maksimalnim izlaznim naponom od 40 V. Efikasnost
moe bit i iznad 98 %. Blok dijagram optimajzera sa niim izlanim naponom je dat na
slici 5.
Slika 5. Blok dijagram optimajzera snage sa niim izlaznim naponom [8]
Optimajzer snage sa viim izlaznim naponom je dizajniran za fotonaponske

sisteme u distributivnim mreama. Osnova ovog pretvaraa je DC-DC izolovani
podiza napona koji omoguuje izlazni napon od 350-430 V sa maksimalnom snagom
od 250 W. Odravanje cijelog fotonaponskog sistem sa ovim pretvaraima je dosta
olakano s obzirom na praenje svakog FN panela ponaosob kao i uspostavljanje
komunikacije preko daljinske kontrole. I ovaj pretvara je takoer opremljen MPPT
algoritmom preko kojeg se dobiva maksimalna snaga iz svakog panela u zavisnosti od
vanjskih uslova. Blok dijagram je dat na slici 6. Efikasnost ovih pretvara dostie i do
97 %.
435
Slika 6. Blok dijagram optimajzera snage sa viim izlaznim naponom [8]
5 ZAKLJUCI
S obzirom da je cilj da se iz FN panela uvijek ima maksimalna trenutna snaga

predvia se da e trenutno najzastupljenije centralizovane (string) invertore zamijeniti
pretvarai sa MLPE tehnologijom, a to su mikroinvertori i optimajzeri snage. Pored
poveanja efikasnosti poveava se i vijek trajanja pretvaraa, a samim tim i
pouzdanost sistema. Glavna razlika izmeu optimajzera snage (koji predstavlja DC-DC
pretvara) i mikroinvertora je u tome to optimajzer zahtjeva koritenje centralnog
invertora iza sebe ka naizmjeninom potroau/mrei, to mu u sutini predstavlja
manu u odnosu na upotrebu mikroinvertora.
ZAHVALNOST
Rad je nastao u okviru projekta
E
, finansiran od strane
Ministarstva nauke i tehnologije u Vladi Republike Srpske, 2014. godine.
LITERATURA
[1] Lale S., Lubura S., oja M., Radmanovi M., Realizacija i ocjena MPPT
algoritama u fotonaponskom sistemu napajanja, INFOTEH-JAHORINA, mart
2013.
[2] Schrack, Mali fotonaponski otoni sustavi, avgust 2013.
[3] Tihomir Pehar, Smjernice za izradu projektne dokumentacije fotonaponskog
sustava spojenog na elektroenergetsku mreu, diplomski rad, Sveuilite u
Zagrebu, oktobar 2009.
[4] http://www.greentechmedia.com, pristupljeno juni 2016.
[5] Luigi G., Giafranco Di M., Innovative architectures for solar energy applications:ST
microinverter system solution, Arrow Times, mart 2015.
[6] https://www.energysage.com, pristupljeno juni 2016.
[7] http://www.solartrader.ca, pristupljeno juni 2016.
[8] STMicroelectronics, Products and solution for solar energy, Velika Britanija,
avgust 2012.
436
_____________________________________________________________________________
KONTROLA PUMPNIH SISTEMA VODOSNABDIJEVANJA

Goran Oraanin1, Stojan Simi2, Duan Golubovi3 Jovana Pajki4, Davor Mili5
Rezime: Vodovodni sistemi su veliki potroai elektrine energije. Potronja elektrine

energije, kroz pumpanje vode, predstavlja najvei dio energijskih trokova u sektoru
vodosnabdijevanja. U tom kontekstu irom svijeta se nastoje smanjiti trokovi
elektrine energije vodovodnih sistema. U radu je prikazan pristup kontrole rada
pumpnih stanica kojim se mogu smanjiti trokovi vodovodnog preduzea, te i na taj
nain obezbjediti odrivost sistema vodosnabdijevanja.
Kljune rijei: elektrina energija, pumpa
CONTROL OF WATER SUPPLY PUMPING SYSTEMS

Abstract: Water supply systems are great consumers of electricity. Electricity
consumption used through water pumping represents the largest share of energy costs
in the water supply sector. In that regard, many efforts are made in order to minimize
the cost of electricity of water supply systems. The paper presents an access to
operating control of pumping stations which can reduce the cost of the water supply
utility and thus ensure the sustainability of the water supply system.
Key words: electricity, pump
1 UVOD
Vodovodni sistemi koriste znaajne koliine energije na zahvaanje, tretiranje,
transport i distribuciju vode za pie do potroaa. Nije rijedak sluaj da vodovodna
preduzea koriste mnogo vie energije nego to je potrebno za funkcionisanje sistema
vodosnabdijevanja. Kao rezultat toga, ak i relativno mala poveanja energijske
efikasnosti mogu da doprinesu finansijskoj koristi vodovodnih preduzea [1].
Energijska efikasnost vodovodnih sistema treba da predstavlja zbir aktivnosti i
djelovanja u svim fazama procesa vodosnabdijevanja, gdje je krajnji cilj minimalna
potronja energije pod uslovom da urednost vodosnabdijevanja ostane ista ili da se
pobolja. Dakle, to nije puka tednja energije nego njena efikasna upotreba koja
doprinosi poboljanju kvaliteta vodosnabdijevanja.
1 Doc. dr Goran Oraanin, Mainski fakultet, Univerzitet Istono Sarajevo, goranorasanin@yahoo.com (CA)
2 Prof. dr. Stojan Simi, Mainski fakultet, Univerzitet Istono Sarajevo, stojans@modricaoil.com
3 Prof. dr. Duan Golubovi, Mainski fakultet, Univerzitet Istono Sarajevo, dusan.golubovic54@gmail.com
4 Jovana Pajki dipl. ma. ing., Mainski fakultet, Univerzitet Istono Sarajevo, jovana.pajkic@gmail.com
5 Mr Davor Mili, Mainski fakultet, Univerzitet Istono Sarajevo, mdavor82@gmail.com
437
Goran Oraanin, Stojan Simi, Duan Golubovi, Jovana Pajki, Davor Mili
Pumpni sistemi su centralne komponente kako vodovodnih tako i sistema

odvodnje otpadnih voda. Pumpanje vode troi znaajne koliine energije. Pumpe se
tipino biraju na osnovu testova proizvoaa pa je realnost da esto nisu ni instalisane
u idealnim uslovima koji se u znaajnoj mjeri razlikuju od uslova u objektima
proizvoaa. Pored toga, oekivani uinak se mijenja tokom vremena, a i trend rasta
cijena elektrine energije utie na procjene energijske efikasnosti takvih sistema [2].
Zbog sve vee urbanizacije i poveane potranje potroaa, veina vodovodnih
sistema postaju sve sloeniji. Operativni zahtjevi takvih sistema su obino pod uticajem
regulatornih komisija kao i javnosti da se operativni trokovi svode na minimum. Jedan
od naina da se postigne taj cilj je kroz upotrebu sistema optimalne kontrole [3].
Poboljanje energijske efikasnosti vodovodnog sistema je potrebno, jer ak i
relativno mali pomaci u efikasnosti imaju potencijal da donesu znaajne koristi za
vodovodna preduzea kako u finansijskom pogledu tako i u poboljanju odrivosti. U
cilju postizanja vieg nivoa efikasnosti, korienje energije mora da se mjeri i
kontrolie. Unaprjeenje energijske efikasnosti treba da uzme u obzir tri glavne mjere
[4]:
smanjenje potronje energije kroz poveanje energijske efikasnosti
sistema,
smanjenje potronje energije osiguravajui racionalnije korienje, odnosno
efikasno (uinkovito) korienje vode, i
korienje potrebne energije, trokovno efikasno npr. pumpanje po nioj
tarifi.
Pumpnim stanicama i drugim kontrolisanim objektima obino se upravlja
primjenom jedne ili kombinacijom sljedeih strategija [5]:
Kontrola pritiska: Pumpe poinju sa radom u skladu sa promjenama pritiska.
Poveanjem potranje e se smanjiti pritisak u vodovodnoj mrei i potaknuti
startovanje pumpe. Pumpa prestaje sa radom kada se pritisak poveava
zbog smanjenja potranje.
Kontrola nivoa: Pumpe poinju sa radom i zaustavljaju se prema promjeni
nivoa vode u rezervoaru.
Vremenska kontrola: Pumpe poinju sa radom i zaustavljaju se u odreenim
satima u toku dana.
Potraga za optimalnim ustaljenim radom pumpanja vode, odnosno pokretanje i
zaustavljanje rada pumpe postaje sve uobiajenija zbog potrebe da se smanji
potronja energije. Za smanjenje potronje energije se vri primjena razliitih tehnika
optimizacije [6].
Cilj rada je da se predstave mogunosti smanjenja trokova vodovodnog
sistema kroz kontrolu rada pumpnih postrojenja.
2 OPIS PROBLEMA
Potronja elektrine energije, kroz pumpanje vode, predstavlja najvei dio
energijskih trokova u sektoru vodosnabdijevanja. Meu nekoliko praktinih rjeenja,
koja mogu omoguiti smanjenje potronje energije, promjena operativnih procedura
pumpanja pokazuje se veoma efikasnim. Promjena pravila rada pumpnih postrojenja
ne zahtijeva dodatna ulaganja, ali je u stanju da izazove znaajno smanjenje trokova
energije u kratkom roku. Kao to je poznato, zadaci operatera u sistemima
vodosnabdijevanja su veoma sloeni, jer je nekoliko razliitih ciljeva ukljueno u ovaj
proces. Da bi se utvrdila, meu proirenom paletom mogunosti, najbolja operativna
438
Kontrola pumpnih sistema vodosnabdijevanja
pravila koja odravaju i kvalitet javne usluge i koja pruaju utedu energije, je
nesumnjivo prioritet vodovodnih sistema [7].
U BiH, kao i u regiji, se primjenjuje dvostruka tarifa elektrine energije (via i
nia) u zavisnosti od doba dana (Slika 1). Nia tarifa elektrine energije je obino od 22
asa pa do 6 asova, dok je via tarifa elektrine energije od 6 asova pa do 22 asa.
Dakle pumpanje vode u vremenu vie tarife prouzrokuje i vie trokove za elektrinu
energiju vodovodnog preduzea. Takoe, potrebe za vodom stanovnitva nisu
ravnomjerno rasporeene, nego se mijenjaju u toku dana. Potrebe za vodom
stanovnitva urbanih naselja se mogu klasifikovati kao:
poveane u jutarnjim i veernjim satima,
umjerene u popodnevnim satima, te
potrebe za vodom opadaju u nonim satima.
Slika 1. Tarife elektrine energije u BiH
Velike finansijske utede se mogu postii promjenom reima rada pumpe,

odnosno podeavanjem rada pumpe u vremenu nie tarife elektrine energije. Cilj je
da se u periodu nie tarife maksimalno koriste pumpe. Uteda se prvenstveno realizuje
kada vodovodni sistem ima kapacitet skladitenja (rezervoare). Period najveeg rada
pumpnih stanica je obino u periodu najvee potranje vode. Najvea potranja vode
je u jutarnjim i veernjim satima kada su vie tarife elektrine energije.
Pravilnom raspodjelom, odnosno pravilnim reimom rada pumpi moe se
uticati na manje trokove za elektrinu energiju vodovodnog preduzea. To znai, da
kada su nie tarife elektrine energije maksimalnim korienjem pumpi moemo
obezbjediti dodatni kapacitet snabdijevanja. Ovaj kapacitet se koristi tako to e se
uskladititi viak vode u rezervoarima tokom nie tarife elektrine energije, te na taj
nain u periodu najvee potranje smanjiti rad pumpi.
U zavisnosti od zapremine rezervoara, tj. ako je zapremina rezervoara dovoljna
da zadovolji dnevne potrebe za vodom potroaa onda je dovoljno punjenje rezervoara
samo u periodu nie tarife elektrine energije (Slika 2). Dakle, rezervoar se puni u
vrijeme nie tarife elektrine energije, a prazni u vrijeme vie tarife elektrine energije
[8].
439
Slika 2. Punjenje i pranjenje rezervoara sa minimalnim trokovima energije
Ukoliko zapremina rezervoara nije dovoljna da zadovolji dnevne potrebe za

vodom potroaa, onda je potrebno napraviti analizu potronje i utvrditi vrijeme kada je
potrebno da se rezervoar puni u vremenu vie tarife elektrine energije. Punjenje
rezervoara e se svakako vriti u vrijeme nie tarife elektrine energije, a u vrijeme
vie tarife se treba izraunati koliko e pumpe raditi, odnosno koju koliinu vode je
potrebno ubaciti u rezervoar da bi na osnovu potronje vode sljedee punjenje bilo u
vremenu nie tarife [8]. Dakle, na osnovu analizirane potronje je mogue unaprijed
pripremiti raspored rada pumpi (Slika 3).
Slika 3. Promjena reima rada pumpi
Oigledno je da e se znaajne utede postii punjenjem rezervoara u

vremenu nie tarife, odnosno ako e se raspored rada pumpi prilagoavati nioj tarifi
elektrine energije.
Neophodno je naglasiti da se na ovaj nain ne smanjuje potronja elektrine
energije, odnosno ne radi se o poboljanju energijske efikasnosti nego se pozitivno
utie na trokove vodovodnog preduzea, jer plaa potronju elektrine energije po
nioj tarifi.
3 KONTROLA PUMPNOG POSTROJENJA

Kao primjer optimalnog reima rada pumpi u nastavku rada su prikazana
mjerenja protoka vode iz rezervora Pavlovac koji snabdijeva vodom dio grada Istono
Sarajevo. Uraena je i analiza vremena rada pumpnog postrojenja. Rezervoar
Pavlovac, Kri, kao i pumpno postrojenje Vojno vrelo pripadaju vodovodnom
sistemu Istono Sarajevo (Slika 4).
Rezervoar Kri zapremine V=1000 m3 snabdijeva vodom II visinsku zonu
vodosnabdijevanja i to: i) direktno iz rezervoara voda se transportuje prema ruralnom
dijelu grada, cca 100 domainstava i ii) preko rezervoara Pavlovac se voda
transportuje u urbani dio grada, cca 1300 domainstava.
440
Slika 4. Situacioni pregled vodovodne mree, rezervoara i pumpne stanice
Mjerenja protoka su se vrila na izlazu iz rezervoara Pavlovac prema

urbanom dijelu grada (Slika 5), a usputna potronja od rezervoara Kri do rezervoara
Pavlovac (potronja ruralnog dijela) je pretpostavljena kao 10% od potronje u
urbanom dijelu grada. Takoe, mjerenja protoka su se vrila i na izlazu iz pumpnog
postrojenja Vojno vrelo tako da se jasno moe vidjeti vrijeme rada pumpi.
Slika 5. Protok iz rezervoara Pavlovac
Na slici 5 je prikazan protok vode iz rezervoara Pavlovac. Mjerenja su se

vrila ultrazvunim mjeraem protoka dva dana (priblino 48 sati) da bi se utvrdila
potronja u urbanom dijelu grada. Mjera je postavljen oko 13 asova, a podaci su
preuzeti nakon 40 asova. Prosjena potronja u tom periodu je iznosila 8,78 l/s, sa
maksimalnim 14,16 l/s i minimalnim 2,91 l/s protokom. Kako se vidi na slici 5, dnevna
potronja vode je znaajno vea u odnosu na nonu potronju vode koja u kasnim
veernji satima poinje da opada sve do ranih jutarnjih sati. Takoe, dnevna potronja
nije ravnomjerna nego je primjetno poveanje potronje u jutarnjim, poslijepodnevnim i
veernjim satima.
441
Potronja vode (urbana i ruralna) izraena u m 3/h je prikazana u tabeli 1.

Minimalna potronja vode je u nonom vremenskom periodu od 01 do 06 asova, dok
je maksimalna potronja u jutarnjem vremenskom periodu od 07 do 08 asova, u
podnevnom od 10 do 11 asova i u veernjem od 21 do 22 asa. Ukupna zapremina
vode potroene u jednom danu (24 asa) je V=839,8 m3. Potronja vode u vremenu
vie tarife elektrine energije iznosi V=665,4 m3, a u vremenu nie tarife iznosi
V=174,4 m3.
Tabela 1. Pregled satne potronje vode

Vrijeme 24- 9- 10- 11-
1-2 2-3 3-4 4-5 5-6 6-7 7-8 8-9
(sat) 1 10 11 12
Potronja
23,4 16,3 14,6 13,8 14,5 17,9 34,2 45,2 43,4 44,6 46,9 43,2
(m3/h)
Vrijeme 12- 13- 14- 15- 16- 17- 18- 19- 20- 21- 22- 23-
(sat) 13 14 15 16 17 18 19 20 21 22 23 24
Potronja
43,2 39,7 29,3 40,6 41,6 41,4 42,8 43,1 41,6 44,5 42,9 31,1
(m3/h)
Na slici 6 je prikazan cjelodnevni rad pumpne stanice. Kao to je ranije reeno

pumpna stanica Vojno vrelo napaja rezervoar Kri iz koga se dalje vodom
snabdijevaju ruralni i urbani dijelovi grada Istono Sarajevo. Na izlazu iz pumpnog
postrojenja je izvreno mjerenje koje je pokazalo tano vrijeme rada pumpi, odnosno
vrijeme kada su se palile i gasile pumpe kao i protok vode na ulazu u rezervoar Kri.
Neophodno je napomenuti da su u pumpnom postrojenju instalisane dvije pumpe,
proizvoaa WILLO, kapaciteta 25 l/s. Instalisana snaga pumpi je 35 kW.
Slika 6. Rad pumpne stanice
Ultrazvuni mjera protoka je postavljen na izlazni cjevovod iz pumpnog

postrojenja u 12:30 asova, a podaci su preuzeti sljedeeg dana u 11:05 asova.
Mjerenjem protoka na izlazu iz pumpnog postrojenja tano je ustanovljeno vrijeme
rada pumpi. U tabeli 2 je prikazano vrijeme kada su pumpe potiskivale vodu u
rezervoar i vrijeme kada su pumpe mirovale.
Analizom izvrenog mjerenja moe se zakljuiti da je u rezervoar Kri u toku
procesa mjerenja dostavljena koliina vode u iznosu od 917,8 m 3. Kada se uporedi
potronja iz rezervoara dolazi se do zakljuka da je ta koliina vode priblino dovoljna
za snabdijevanje stanovnika. Razlika (dotok i potronja) koja se javlja u koliini oko 90
m3 u analizi nee predstavljati veliki problem iz razloga to se ne zna kolika je koliina
vode bila u rezervoaru kada su postavljeni mjerai.
442
Tabela 2. Pregled satnog rada pumpi

Vrijeme 12:30-13:16 13:17-14:54 14:55-16:39 16:40-17:58 17:59-22:52 22:53-24:00
Koliina
0 147,8 0 118,8 0 103,1
vode (m3)
Vrijeme 00:01-01:48 01:49-05:09 05:10-05:58 05:59-06:31 06:32-09:02 09:03-11:05
Koliina
0 315,5 0 49,3 0 183,3
vode (m3)
Analizom izmjerenih vrijednosti protoka na cjevovodu iz pumpnog postrojenja i

rezultata potronje vode kod potroaa dolazi se do sljedeih zakljuaka:
Isporuena koliina vode u rezervoar Kri je 917,8 m 3,
Potronja vode iznosi 839,8 m 3,
Potronja vode u vremenu vie tarife elektrine energije iznosi 665,4 m 3,
Potronja vode u vremenu nie tarife elektrine energije iznosi 174,4 m 3,
Vrijeme rada pumpi u vremenu vie tarife elektrine energije iznosi 5:29
sati,
Vrijeme rada pumpi u vremenu nie tarife elektrine energije iznosi 4:28
sati.
Na osnovu izmjerenih vrijednosti moe se zakljuiti da rezerervoar Kri u
vremenu vie tarife moe da vodom snabdije sve potroae jednim punjenjem. Dakle,
u ovom sluaju bi punjenje rezervoara bilo u nonom reimu sa minimalnom
potronjom energije kako je prikazano na slici 2 (pun rezervoar). Meutim, poto
koliine vode koju pumpe mogu da dostave u rezervoar sa minimalnom potronjom
energije iznose oko 720 m3 (punjenje u 8 sati nie tarife elektrine energije), a
potronja kod stanovnika iznosi oko 840 m 3, znai da e se u nekom vremenskom
periodu trebati i ta razlika dopuniti punjenjem rezervoara u vrijeme vie tarife elektrine
energije.
Na osnovu analize za sluaj punjenja i pranjenja rezervoara potrebno je da se
prvi dan u 6 asova zaustavi rad pumpi (rezervoar treba da bude pun 1000 m3). U 22
asa potroena koliina vode iznosi oko 665 m 3, u toku noi do 6 asova troi se jo
oko 175 m3 vode, a puni se sa 720 m 3 to znai da drugi dan zapoinje sa zapreminom
rezervoara od 880 m 3. Sljedei dan sa dnevnom potronjom od 665 m3, nonom
potronjom od 175 m3 i punjenjem od 720 m3 zapoinje trei dan sa zapreminom od
760 m3. I u treem danu potronja i punjenje rezervoara e doprinijeti promjeni
zapremine vode u rezervoaru za poetak etvrtog dana i ona e iznositi oko 640 m3.
Poto 640 m3 ne moe da zadovolji potrebe dnevne potronje od 665 m 3,
potrebno je u toku dana (vremenu vie tarife) dopuniti rezervoar. Poto e nedostatak
iznositi oko 450 m3, ova koliina vode zahtijeva rad pumpi od 5 asova. Poto je
potronja vode izraena u jutarnjim i popodnevnim satima, u toku etvrtog dana
punjenje rezervoara bi trebalo vriti u vremenu od 10 do 15 asova. Na ovaj nain bi
se peti dan doekao sa priblino punim rezervoarom i mogao bi da se nastavi ciklus
punjenja rezervoara u vrijeme vie tarife elektrine energije svaki etvrti dan po pet
asova i svaki dan u vrijeme nie tarife po 8 asova.
U tabeli 3 su prikazani uporedni trokovi elektrine energije na osnovu
trenutnog i predloenog rada pumpi. Iz tabele 3 se vidi da po trenutnom reimu rada, u
vremenu vie tarife pumpe rade 5 sati i 29 minuta dok u predloenom bi radile 1 sat i
15 minuta, odnosno 5 sati svakih 4 dana.
Cijena elektrine energije za privredu iznosi: i) za viu tarifu 0,1592 KM/kWh i ii) za
niu tarifu 0,0796 KM/kWh.
443
Tabela 3. Trokovi rada pumpi

Trenutni reim rada pumpi Predloeni reim rada pumpi
Via tarifa Nia tarifa Via tarifa Nia tarifa
Vrijeme (sati) 1:15
5:29 4:28 8:00
(5 sati na 4 dana)
Cijena (KM) 30,646 12,537 6,965 22,288
Na osnovu predloenog reima rada pumpi iz tabele se vidi uteda

vodovodnog preduzea u iznosu 417,9 KM na mjesenom nivou, odnosno 5014,8 KM
na godinjem nivou.
4 ZAKLJUAK
Vodovodni sistemi su veliki potroai elektrine energije. Energija u
vodovodnim sistemima se troi u svakoj od faza proizvodnje i distribucije vode do
potroaa. Potronja energije u vodovodnim sistemima moe da varira od sistema do
sistema. Sistemi koji putem gravitacije snabdijevaju potroae vodom troe mnogo
manje energije od sistema koji to ine pumpanjem. Stoga kroz ovaj rad je prikazana
mogunost utede vodovodnog preduzea u trokovima za elektrinu energiju.
Naravno, pored mogunosti utede, vodovodna preduzea, a posebno ona koja putem
pumpanja obezbjeuju vodosnabdijevanje moraju akcenat staviti i na smanjenje
gubitaka vode u vodovodnom sistemu, jer e na taj nain najbolje i najefikasnije
doprinijeti energijskoj efikasnosti sopstvenog sistema.
LITERATURA
[1] Oraanin G., Golubovi D., Mili D., Pajki J., (2016), Aspekti energijske
efikasnosti u sistemima vodosnabdijevanja, 3. Meunarodna konferencija NOVE
TEHNOLOGIJE NT-2016, Mostar 2016, 241-248.
[2] Papa F., Radulj ., Karney B., Robertson M., (2014), Pump energy efficiency field
testing and benchmarking in Canada, Journal of Water Supply: Research and
Technology AQUA, 63.7, 570-577.
[3] Ormsbee L. E., Lansey K. E., (1994), Optimal Control of Water Supply Pumping
Systems, Jour. Water Resources Planning Man., 1994, 120:237-252.
[4] Parker J., Fanner P., Feldman M., (2008), Increasing Energy Efficiency of Water
Supply How to Introduce Carbon Credits to the Water Sector?
[5] Feldman M., (2009), Aspects of Energy Efficiency in Water Supply Systems,
Proceedings of the 5th IWA Water Loss Reduction Specialist Conference 26 30
April 2009, 85-89.
[6] Melo Brentan B., Luvizotto Jr E., (2014), Refining PSO Applied to Electric Energy
Cost Reduction in Water Pumping, Water Research and Management, Vol. 4, No.
2, 2014., 19-30.
[7] Ramos, H.M., Costa, L.H.M. and F.V. Gonalves (2012). Energy Efficiency in
Water Supply Systems: GA for Pump Schedule Optimization and ANN for Hybrid
Energy Prediction, Water Systems Analysis: Selected Topics, Chapter 4, 2012.
[8] Kosti D., Jankovi Lj., Branisavljevi N., Naunovi Z., Iveti M., (2011),
Poboljanje energetske efikasnosti vodovodnih sistema Primer sistem za
vodosnabdevanje Uice, 11. Meunarodna konferencija Vodovodni i kanalizacioni
sistemi, Jahorina 2011., 179-191.
444
_____________________________________________________________________________
ENERGETSKI PAMETNE ZGRADE KROZ PRIMJENU INTERNET

STVARI - IOT (INTERNET OF THINGS)
Veselin Blagojevi1, Duan Gordi2, Ranko Boikovi3, Vojislav Novakovi4,
Rezime: U poslednjih nekoliko godina nastala je evolucija trita i aplikacija sistema

tzv. Internet stvari - IOT (Internet of Things). Ovi sistemi predstavljaju sistem raznih,
uglavnom malih, pametnih elektronskih ureaja koji imaju mogunost interakcije sa
realnom okolinom i koji su prikljueni na Internet. Mnogobrojne su primene IOT
sistema u razliitim segmentima ivota, a u ovom radu e biti prikazane mogunosti i
primjeri primjene IOT tehnologija u zgradama u cilju poveanja njihove energetske
efikasnosti. Trenutne primjene i perspektivna budua rjeenja pokazuju da se
primjenom ovih tehnologija mogu ostvariti znaajne utede energije u zgradama uz
poveanje komfora njihovih korisnika.
Kljune rijei: Beini senzori, energetska efikasnost, Internet stvari, RFID.
ENERGY-SMART BUILDINGS THROUGH APPLICATION OF THE INTERNET OF

THINGS (IOT)
Abstract: In recent years, there was an evolution of the market and the application
system called. "Internet of things" - IOT (Internet of Things). These systems represent
a different system, mainly small, smart electronic devices that have the ability to
interact with the real environment and connected to the Internet. There are many
applications IOT systems in different segments of life, and in this paper will be
presented possibilities and examples of use of IOT technologies in buildings in order to
increase their energy efficiency. The current application and promising future solutions
show that the use of these technologies can achieve significant energy savings in
buildings while increasing the comfort of their users.
Key words: Energy efficiency, The Internet of Things, RFID, Wireless sensors.
1 MSc Veselin Blagojevi, Fakultet inenjerskih nauka,Kragujevac,Srbija,e-mail:veso.doboj@gmail.com (CA)

2 dr Duan Gordi, Fakultet inenjerskih nauka,Kragujevac,Srbija , e-mail: gordic@kg.ac.rs
3 dr Ranko Boikovi,Saobraajni fakultet ,Doboj, BiH, e-mail: bozickovicranko@gmail.com
4 dr Vojislav Novakovi,NTNU ,Trondheim, Norway, e-mail: vojislav.novakovic@ntnu.no
445
Veselin Blagojevi , Duan Gordi , Ranko Boikovi, Vojislav Novakovi
1 UVOD
Razvoj tehnologije u 21-om vijeku je donio mnogo promjena po ovjeka i nain
na koji se odvija ivot na Zemlji. Tehnologija i tehnika su na neki nain pojednostavile
ivotni tok, dok su na drugi nain mnogima oteali ivot. Pametni ureaji su samo
jedan dio stvari koje svakodnevno koristi ovjeanstvo. Pametni ureaji imaju veliku
ulogu u reavanju problema koji se tiu poveanja ivotnih i radnih uslova uz
poveanje energetske efikasnosti. U ovom radu e se govoriti o mogunostima za
primjenu pametnih ureaja, dok e se vie panje posvetiti primjeni pametnih ureaja
u zgradarstvu, tzv. The Internet of Things-IOT.
2 DEFINICIJA IOT-A (definicija, razvoj, vizija, podruje primjene)

The Internet of Things-IOT je skup sposobnosti koji uz pomo razliitih
beinih senzora (Wi-Fi), itaa koji rade na principu identifikacije putem radio
frekvencije (RFID) i elektronskih ureaja ue od drugih, i pretvaraju u inteligentne
sisteme. Generisanje podataka u IOT-u raste mnogo bre od drutvenih i raunarsko
generisanih podataka, to je vrlo raznolik, jasan, i u jednu ruku vremenski veoma
osjetljiv pravac koji se esto uva u tajnosti. Sloenost sistema raste veoma brzo
koristei milijarde ureaja u interaktivnom i pokretnom svijetu. To predstavlja dodatni
izazov za testiranje granica programiranja u raunarskom svijetu. IOT je upravo
najbolja prilika da se u potpunosti iskoristi ovaj resurs. Svrha IOT-a je da ne bude
izriito definisana i programirana. Ona se sama ui i nadograuje iz iskustava okoline i
interakcije sa ljudima. To donosi automatsko uenje sistema i procesa kako bi mogli
razumjeti ciljeve korisnika, a zatim se integriu i analiziraju relevantni podaci koji bi
korisniku mogli pomoi da se ciljevi to lake i jednostavnije realizuju [1].
2.1 Razvoj IOT-a (The Internet of Things)

Pojam Internet of Things prvi je pomeno Kevin Ashton u 1999. godini u
kontekstu upravljanja lancem snadbijevanja.[2]. Meutim, u posljednjih desetak godina,
definicija sveobuhvatno pokriva irok spektar aplikacija kao to su zdravstvo,
komunalne usluge, trasport, itd [3].
Radikalna evolucija IOT-a podrazumijeva mreu meusobno povezanih
objekata koji ne samo da prikupljaju informacije iz okoline ve imaju i interakciju sa
fizikim svijetom (aktiviranje/naredba/kontrola), koji takoe koristi postojee internetske
standarde za pruanje usluga za prenos podataka, analitiku, aplikacije i komunikacije.
IOT potaknut razvojem otvorene beine tehnologije kao to su Bluetooth, (RFID), Wi-
Fi, telefonski prenos podataka, ugraenih senzora i razvojem komunikacionih mrea
izlazi iz okvira statike funkcije interneta i potpunosti prelazi u integrisani internet
budunosti [4].
Zaee IOT-a se u ozbiljnijem kontekstu prvi put pominje 2012 godine, ali je
dugo vremena bio pod odreenim stepenom skepticizma. Priliku za razvoj je dobio
nakon ubrzanog razvoja velikih kompanija Google, Samsung, Apple itd, koji su traili
svoje poslovne prilike za uspjenije poslovanje [5].
2.2 Vizija razvoja IOT-a (The Internet of Things)

IOT je nova revolucija internet [6].
Broj ureaja povezanih sa internetom nadmaio je broj ljudskih bia na planeti
u 2011 godini, a do 2020 godine predvianja su da e povezanost ureaja biti izmeu
26 milijardi i 50 milijardi [7].
446
Energetski pametne zgrade kroz primjenu Internet stvari - IOT (Internet of Things)
Prema istraivanju koje je provela kompanija IDC (International Data

Corporation), instalirana baza podataka za IOT e do 2020 godine porasti na oko 212
milijardi ureaja. IDC ovaj porast vidi uglavnom potaknut idejom da e prikupljanja
podatataka ii preko privatnih i poslovnih aplikacija [8].
IOT podrazumijeva da su okruenja, gradovi, zgrade, vozila, odjea, prenosni
ureaji i i drugi objekti medjusobno povezani i da imaju mogunost ili sposobnost da
osjete, komuniciraju i stvaraju nove informacije. Osim mrene tehnologije oni se
moraju nositi sa novim izazovima, kao to su velike brzine prenosa podataka, veliki
broj korisnika, mala potronja energije, niske cijene i veliki broj ureaja.
Kako se IOT bude razvijao, tako e se i koliina generisanih podataka
uveavati. Poslovni modeli osim toga nee vie ukljuivati samo jednu kompaniju ,
nego e sadravati dinamiku mreu kompanija s potpuno novim vrijednosnim lancem.
Podaci e se generisati i prenositi samostalno pametnim ureajima i ti e podaci
neizbjeno prelaziti granice preduzea.
Pojavljuje se niz opasnosti koji se tiu zatite podataka, posebno na podatke
koji e biti generisani u poetku primjenen[5].
2.3 Podruje primjene IOT-a (The Internet of Things)

Potencijalna primjena IOT-a je brojna i raznovrsna, i namee se u gotovo svim
podrujima svakodnevno (privatna lica i drutva u cjelini). IOT prijava pokriva pametna
okruenja kao to su: transport, objekti, gradovi, poljoprivreda, fabrike, zdravstvo,
kultura i turizam, ivotnu sredinu i energiju [9].
U nastavku je dat aurirani popis IOT aplikacija koji sadre IOT primjene u
razliitim podrujima, to je evidentan strateki i tehnoloki trend za narednih nekoliko
godina:
Proizvodnja hrane i nadzor voda,
Pametno zdravlje,
Pametno ivljenje,
Pametni monitoring ivotne sredine,
Pametna proizvodnja,
Pametna energija,
Pametne zgrade,
Mobilnost i pametni transport,
Pametna industrija,
Pametni grad.
3 KORIENJE IOT-A U ZGRADARSTVU ZA POVEANJE ENERGETSKE

EFIKASNOSTI
Primjena IOT tehnlogije u gradovima i stambenim objektima ima nekoliko
zadataka. Jedan od osnovnih je poveanje javne svijesti o promjenama koje moramo
uvesti a koje se tiu snadbijevanja i koritenja elektrine energije. Jo jedan od razloga
je da se snadbijevanje energijom u budunosti bazira na obnovljive izvore energije,
dok e fosilna goriva postepeno gubiti svoju ulogu i znaaj. Fokus prije svega treba
usmjeriti na nae ponaanje kod potronje energije. Zbog svoje ne stalne prirode,
energija zahtjeva inteligentnu i prilagodljivu mreu, sa kontrolisanom proizvodnjom i
skladitenjem. Takve funkcije e se temeljiti na umreavanju inteligentnih ureaja i
opreme bazirane uglavnom na IOT tehnologiji. Budue energetske mree predviaju
veliki broj malih i srednjih distributivnih postrojenja. Osim toga u sluaju energetskih
zastoja ili nesree, odreena podruja mogu se izolirati od ostalih i snadbijevati iz
447
vlastitih izvora napajanja. Poput fotonaponskih sistema na krovovima, blok toplana i

elektrana ili energetskog skladita u stambenom prostoru. Veliki izazov za potroae je
omoguavanje tehnologije i dizajna energetske infrastrukture u cilju snadbijevanja
sopstveno proizvedenom energijom,njenom distribucijom ili potpunim osamostaljenjem
i povlaenjem iz mree.
Sloenost poveava sistem i predstavlja tehnike izazove koji moraju uzeti u
obzir kako je sistem djelovao na nain za koji nije namijenjen. U svemu je nabitnije da
nakon ukljuenja tehnologije i sistema sigurnost ostane na prvome mjestu, kako bi se
smanjila ranjivost sistema i zatita podataka [5].
To takoe omoguava visok nivo svijesti potroaa. Izgradnja sistema za
upravljanje je u stvari kompjuterski sistem kontrole (softver i hardver) instaliran u
zgradama koje kontroliu i nadziru na licu mjesta ili sa daljine zgrade, mehaniku i
elektrinu opremu (ventilaciju, rasvjetu, elektrini sistem, protivpoarni i sigurnosni
sistem) a sve prikupljanjem podataka iz niza ugraenih senzora [10].
Kao primjer se moe navesti pametni termostat, koji pripada grupi IOT ureaja,
sposobnih da sami ue svoje preferencije i na taj nain upravljaju energijom. Na taj
nain se ne mora voditi rauna o temperaturi u prostoriji, ve se ona automatski
programira. Istraivanja pokazuju da su primjenom ovih termostata utede od 10 % do
15%. Osim toga veoma je prilagodljiv i prua podrku za skoro sve sisteme grijanja i
hlaenja [12].
Uteda energije se temelji prije svega na poboljanju korisnike svijesti o
trenutnoj potronji energijom to je ujedno jo jedan stub buduih koncepata
upravljanja energijom. Pametni mjerai i ureaji mogu dati informacije o trenutnoj
potronji energije, to e omoguiti identifikaciju i otklanjanje suvine potronje
energije, te pruiti savjet za optimizaciju individualne potronje energije. Ali sve to nije
korisno i funkcionalno ako se ne promijeni svijest korisnika.
Kada se radi o kritinom dijelu javne infrastrukture, sigurnost podataka je od
najvee vanosti. Kako bi se zadovoljili vrlo visoki zahtjevi na pouzdanosti energetskih
mrea i komponenti njihova interakcija mora imati najviu efikasnost i pouzdanost [11].
4 PRIMERI PRIMENE IOT TEHNOLOGIJE NA KOMPLEKSU (NTNU) U

TRONDHEIMU, NORVEKA
IOT tehnologija je svjesno ili ne ve dobila svoju primjenu u pojedinim
oblastima. Meu prvima se nalaze obrazovne institucije, koje su labaratorijski
istraujui odreene tehnologije doli do primjene inteligentnih sistema. Kao primjer se
moe navesti razvoj i primjena IOT tehnologije na NTNU (Norwegian University of
Science and Technology) u Trondheimu, Norveka. Ovaj univerzitet broji oko 39000
studenata koji svoje aktivnosti obavljaju u 30 objekata za razliite namjene. U skladu
sa tim potrebama Departman za energetiku i procesnu tehniku na ovom Univerzitetu
sprovodi nekoliko zadataka koji su doveli do odreenih rezultata. Postavljen je zadatak
da se izgradi sistem za upravljanje energijom i nadzor nad potronjom energije
(energetski monitoring).
Na ovom fakultetu se ve 80-ih godina bacio fokus na prikupljanje opreme.
Napravljene se prve zgrade sa sofisticiranom opremom za telekomunikacije, praenje,
automatsko upravljanje i raunarske mree ( analogni sistem).
Poetkom 90-ih godina, fokus je dat na funkcionisanje sistema. U zgradi se
poveala produktivnost njegovih korisnika, osigurala efikasnost koritenja svih
raspoloivih resursa, te smanjili trokovi ivotnog ciklusa zgrade.
448
Energetski pametne zgrade kroz primjenu Internet stvari - IOT (Internet of Things)
Tokom 2000-ih godina, fokus je stavljen na integraciju. To je postupak koji

osigurava optimalnu iskoritenost zgrada, podruja, instalacije, organizacija a sve sa
glavnim ciljem pruanja kvalitetne automatizacije i monitoringa sistema.
Kako bi se sprovela metodologija neophodno je bilo napraviti interakciju
izmeu objekata i usluga za korisnike. Osim graevinskih karakteristika objekata
neophodno je obezbijediti informacije o temperaturi, snadbijevanjem energijom i
vodom, ponaanjem i navikama korisnika, sunevom zraenju, vjetru i ostalim
klimatskim podacima, toplotnoj izolaciji, grejanju, hlaenju, ventilaciji, vlazi, rasvjeti,
aktivnostima korisnika, radnom vremenu korisnika, toplotnom kapacitetu, vlastitim
koliinama tople vode, sanitariji, postojeoj automatskoj kontroli, nainu upravljanja, i o
ostalim znanjima i aktivnostima kojima se raspolae na ovom Univerzitetu.
Cilj automatske kontrole je bio da se zadre odreeni unutranji ekoloki
parametri, u okvoru eljenih granica bez ukljuenja svih ljudskih napora. Osim toga
potrebno je bilo da se zadre i ekoloki i energetski nivo svih resursa.
Automatizacija u zgradama obuhvata sve sisteme za upravljanje i nadzor nad
razliitim instalacijama zgrade koje bi mogle biti pronaene u zgradama. Izgradnja
sistema za upravljanje energijom(BEMS) je oprema koja se koristi u zgradarstvu kao
centralizovana i koja se temelji na digitalnoj tehnici i komponentama.
Centralizovani inteligentni sistem u zgradama prua znaajnu racionalizaciju,
smanjenje potronje i potranje energije, nie trokove. Oprema za automatizaciju se
prvobitno temeljila na analognoj tehnici gdje se ispostavilo da je vrlo kruto njeno
koritenje i da prua male mogunosti za kombinaciju signala izmeu razliitih sistema.
To je bio ograniavajui faktor i zbog toga su u centralizovanoj automatici u zgradama
nastajale tete.
Trenutno se na NTNU primjenjuje digitalni sistem energetskog monitoringa,
gdje je pomou raznih senzora i dojavljivaa uvezanih u intelektualnu mreu,
napravljen jedan sistem za kvalitetno praenje i upravljanje energijom. Sistem je
programiran na taj nain da prati trenutno stanje, predvia normalno stanje koritenja i
evidentira sva nepredviena odstupanja i greke sistema. Sistem je napravljen da
automatski alarmira ne predviena odstupanja, ukazujui na eventualni kvar, greke ili
ne marnost korisnika. Jednostavnim koritenjem softvera i pristupom na licu mjesta ili
sa daljine, omoguava se grafiki prikaz parametara, gdje je na osnovu toga mogue
planirati naredne korake za poboljanje sistema i energetsku efikasnost.
Osim energetskog monitoringa ovaj Univerzitet je opremljen sistemima za:
video nadzor, kontrolu prisutnosti, kontrolu koritenja prostorija, sistemom protiv
poarne detekcije i zatite, automatskom kontrolom i upravljanjem rasvjetom,
grejanjem i ventilacijom, kao i drugim inteligentnim sistemima kod odravanja
objekata. Osim toga, a u cilju iskoritenja energije, koristi se otpadna energija iz
kuhinja i drugih postrojenja, pomou sistema sa izmjenjivaima.
5 ZAKLJUAK
U radu su se mogle vidjeti mnogobrojne mogunosti za primjenu inteligentnih
sistema tzv. Internet stvari - IOT (Internet of Things). Sistem raznih pametnih
ureaja omoguava stvaranje mree korisnika iz razliitog segmenta ivota u
jedinstveni inteligentni sistem, koji ima mogunost bez ljudske pomoi da evidentira,
kontrolie, upravlja i automatski se nadograuje.
Primjena IOT tehnologije je raznovrsna i nalazi primjenu u svim oblastima, dok
je u ovom radu akcenat stavljen na primjenu u zgradarstvu, kao i na njen uticaj na
poveanje energetske efikasnosti uz odranje ivotnih i radnih uslova za korisnike.
449
Na navedenom primjeru koritenja IOT tehnologije u NTNU-Trondheim, se

moe vidjeti koliku ulogu ovaj sistem ima na energetsku efikasnost i normalno
funkcionisanje cijelog sistema. Bitna je injenica to to IOT sistem ima veliku ulogu kod
podizanja svijesti i edukacije korisnika, ukazujui im na greke pri koritenju energije i
na taj nain IOT sistem stavlja u funkciju monitoringa, bez velikih zahtjeva za njegovo
upravljanje.
Primjena IOT tehnologije se suoava i sa mnogim problemima, to usporava
masovniju primjenu. Jedan od tih, a moda i najvei problem je bezbjednost podataka.
Globalno umreavanje pametnih stvari daje prostora za zloupotrebu podataka, to u
protivnom daje zadatak za dodatni razvoj i rad.
LITERATURA
[1] Gubbi,J., Buyya,R., Marusic,S.,Palaniswami,M., Internet of Things (IoT): A Vision,
Architectural Elements, and Future Directions, Future Generation Computer
Systems, Volume 29, No. 7, Pages: 1645-1660, ISSN: 0167-739X, Elsevier
Science, Amsterdam, The Netherlands, September 2013.
[2] Ashton, K. (2009). That Internet of Things Thing, RFiD Journal.
[3] Sundmaeker, H., Guillemin, P., Friess, P., Woelffl, S. (2010). Vision and
challenges for realising the Internet of Things, Cluster of European Research
Projects on the Internet of Things - CERP IoT.
[4] Buckley, J. (2006). The Internet of Things: From RFID to the Next-Generation
Pervasive Networked Systems, Auerbach Publications, New York.
[5] Vermesan,O., Friess,P., Internet of Things From Research and Innovation to
Market Deployment, River Publishers Series in Communication, Niels Jernes Vej
10 9220 Aalborg Denmark, 2014.
[6] Vermesan,O., Friess,P., Guillemin,P., Sundmaeker, H., et al., Inter-net of Things
Strategic Research and Innovation Agenda, Chapter 2 in Internet of Things
Converging Technologies for Smart Envi-ronments and Integrated Ecosystems,
ISBN 97887-9298273-5,River Publishers, 2013.
[7] Raymond, J., Associates, The Internet of Things-A Study in Hype, Reality,
Disruption, andGrowth,The-Internet-of-Things-A-Study-in-Hype-Reality- Disruption
- and-Growth.pdf, 2014.
[8] IDC, Worldwide Internet of Things 20132020 Forecast: Billions of Things,
Trillions of Dollars, Doc #: 243661, Februar 2016.
[9] Evans, P. C., Annunziata, M. (2012). Industrial Internet: Pushing the Boundaries
of Minds and Machines, General Electric Co.
[10] http://blog.econocom.com/en/blog/smartbuilding-and-bms-a-little-glossary/,
pristupljeno (09.08.2016).
[11] Vermesan,O.,et al.., ,,Internet of Energy-Connecting Energy Anywhere Anytime,,
Ib Advanced Microsystems for Automative Applications 2011: Smart Systems for
Electic, Safe and Networked Mobility, ISBN 978-36-42213-80-9 Springer, Berlin,
2011.
[12] http://internetofthingswiki.com/nest-learning-thermostat/559/
pristupljeno(10.08.2016).
450
________________________________________________________________________________________________
MAINTENANCE, QUALITY AND

ORGANIZATION
_____________________________________________________________________________
LUBRICATING OILS FOR MODERN AUTOMATIC TRANSMISSIONS

OF MOTOR VEHICLES
Mitar Jocanovi1, Velibor Karanovi2, Marko Oronjak3, Neboja Nikoli4,
Darko Kneevi5
Abstract: Automatic gearboxes of motor vehicles become more complex mechanical

assemblies intended for transmission of torque from the engine to the differential of a
motor vehicle. In order to be a core function of the transmission performed, it is
necessary to provide a certain quality of working fluid - oil whose role in the multiple
transmission. Multiple roles ATF oil is reflected in the lubrication of the planetary gear
as main gear train torque, ensuring precision and quality of work of the hydraulic
system to switch gears and drive hydraulic torque converter. In addition to these
functions, in newer hybrid transmissions, oil must lubricate and certain elements of the
drive electric motor / generator, in order to ensure that longer-lasting working life of the
transmission. The paper will be processed latest standards prescribed by the
manufacturer of gearboxes and necessary physical and chemical characteristics of
ATF oils necessary for a reliable and long term operation of modern automatic
transmissions.
Key words: Automatic Transmission Fluid, oil standards, process lubrication, tribology,
hybrid transmission
1 INTRODUCTION
The world's largest car manufacturing companies have always been trying to
install the most economic and the most efficient engines and transmission systems in
their cars. Recently we have been witnessing the application of combination of internal
combustion engine with hybrid transmission systems, which transforms mechanical
1
PhD, Mitar Jocanovi, University of Novi Sad, Faculty of Technical Sciences, Novi Sad, Serbia,
mitarj@uns.ac.rs
2
PhD, Velibor Karanovi, University of Novi Sad, Faculty of Technical Sciences, Novi Sad, Serbia,
velja_82@uns.ac.rs
3
MSc, Marko Oronjak, University of Novi Sad, Faculty of Technical Sciences, Novi Sad, Serbia,
orosnjak@uns.ac.rs PhD,
4
PhD, Neboja Nikoli, University of Novi Sad, Faculty of Technical Sciences, Novi Sad, Serbia,
nebnik@uns.ac.rs
5
PhD, Darko Kneevi, University of Banja Luka, , University of Banja Luka, Faculty of Mechanical
Engineering, BiH, darko.knezevic@unibl.rs
451
Mitar Jocanovi, Velibor Karanovi, Marko Oronjak, Neboja Nikoli, Darko Kneevi
work into electrical energy for battery charging, while the vehicle travels, whenever it is
possible.
Design of modern automatic transmissions, containing in its module
motors/generators for the transformation of mechanical energy into electrical energy
and vice versa, differs from manufacturer to manufacturer.
Figure 1 shows a simplified model of transformation of mechanical energy into
electrical energy; depending on the required torque at the wheels of the vehicle.
Figure 1 One of the methods of transformation of mechanical energy into electrical

energy and vice versa in modern hybrid transmissions [1]
Figures 2 and 3 show two entirely different designs of automatic/hybrid

transmissions that are installed in different vehicles (BMW and Toyota). The concept of
transformation is similar, but the design is different.
Figures 2 and 3 Examples of different designs of automatic/hybrid transmissions

(ZTF and Toyota)
What is common in all types of hybrid transmissions is that in order to enable a
452
Lubricating oils for modern automatic transmissions of motor vehicles
quality and long-lasting exploitation of the transmission, it is necessary to provide an

adequate and quality working fluid having required physical and chemical
specifications.
2 AUTOMATIC TRANSMISSION FLUID

Figures 2 and 3 show that design concepts in ZTF and Toyota are completely
different. ZTF design uses a traditional automatic transmission with an incorporated
electric motor at the entrance of the transmission, while Toyota simplifies the design
with a central shaft that is attached to two generators/motors and to an auxiliary shaft
that has a special transmission speed converter, which provides different rotation
speeds of the main shaft. For the operation of the above mentioned transmissions a
special hydraulic system is used that provides proper operation of working elements of
the transmission.
In order to provide perfect operation of all components and transmission
assemblies, it is necessary to use corresponding working fluid. In these types of
transmissions, the working fluid, that is called ATF - Automatic Transmission Fluid, has
to meet specific functions regarding:
Lubrication function (planetary gears that constitute the main assembly of
automatic transmission system, all bearings, especially generator/motor
bearings in hybrid transmission);
Hydraulic oil function (within a complex hydraulic system that is used in
automatic/hybrid transmissions provides easy shifting of gears;
With certain design types it provides a smooth operation of the hydraulic
torque converter that operates as a coupling connecting the driving shaft
with the system of planetary gears;
In addition to all of the above mentioned tasks, automatic transmission fluid
must retain a corresponding coefficient of friction to be able to provide
power transmission between the automatic transmission clutch plates
without slipping
In addition to the above listed functions, ATF is designed to provide other important
functions as follows: cooling, power transmission to the gear sides or torque
converters, wear and corrosion protection, seal compatibility, high oxidation stability
and foaming prevention [2].
2.1 Physical and chemical properties of ATF

ATF is designed to provide a long-lasting exploitation of automatic/hybrid
transmissions. In order to make it possible, it is necessary to provide, in addition to the
base fluid, also an additive package providing the required physical and chemical
properties of the fluid.
The most important physical and chemical properties of ATF are:
Low temperature Automatic/hybrid transmissions are complex mechanical
and electronic systems that require corresponding rheological properties of
oils also at the lowest temperatures. Low-temperature properties of oils are
expressed as the highest allowed value of dynamic viscosity at the
temperature of -40 C measured by Brookfield viscometer. In order to
achieve the best low-temperature properties of oil, it is necessary to use the
best quality API IV and API V group base oils for blending.
Shear stability Mechanical load that automatic transmission fluids are
exposed to, may cause the break of polymer chains, especially those
453
having larger molecular weight, which results in permanent decrease in

viscosity. Such problems are solved with application of shear-stable
viscosity modifiers along with the use of quality base oils;
Oxidation and thermal stability New designs of automatic transmission are
becoming increasingly smaller and lighter in construction, however, such
designs are required to transmit higher torque values, resulting in a higher
thermal load per volume unit of fluid. Additionally, there is a permanent
requirement to have the longest possible service interval of the fluid. For
these reasons, very stable automatic transmission fluids in respect of
oxidation, are required.
ATF must have a high degree of oxidative stability also at temperatures up to
150C. At such high temperatures, and in the presence of air, the process of increased
oil oxidation is developing together with many other side effects such as: generation of
increased acid level (intensive oxidation has corrosive effects upon liners and other
construction materials as well as on the sealing materials and clutch plates); change in
friction properties of the fluid (generates excessive clutch plates slipping); fluid
viscosity increases (it causes decrease in automatic transmission functionality);
formation of resin and varnish (due to increased oxidation they may cause congestion
in the control hydraulic valves that may lead to transmission failure); formation and
accumulation of sludge (the result of oxidation may cause congestion of the control
hydraulic valves and lubrication pipes).
Antiwear properties automatic/hybrid transmission fluids must have good
antiwear properties that are required to provide durability of assemblies and
parts of automatic transmission, as well as exploitation properties of the
transmission. Normally, this property also has impact on the possibility of
extension of the fluid service interval.
Friction properties it is an important property for those transmission
designs which contain in their assemblies lamellar couplings. The friction
coefficient value of the fluid must be within the allowed range because the
change of gears is performed by means of lamellar couplings and band
brakes coated with friction lining. The friction property of the fluid makes a
basic difference between automatic transmission fluids, i.e. between
specifications of different manufacturers. Further development of automatic
transmission fluids is leading toward development of special additives, the
so-called friction modifiers which provide an optimum friction coefficient with
its proper existence within the determined ranges.
Viscosity grades for ATF fluids are not subject to recommendation (SAE,
ISO VG), because they are an integral part of the respective specification.
Working properties are defined in General Motors and Ford specifications
shown in Tables 1 and 2. Most of other manufacturers (MAN, Mercedes
Benz, Renk, Voith, ZF) accept one these specifications, although some of
them require additional tests to secure compatibility with their automatic
transmissions (such as Toyota Table 3).
454
Lubricating oils for modern automatic transmissions of motor vehicles
2.2 ATF Specification
Table 1. General Motors [3] ATF Specification

Type A The first automatic transmission specification released in 1949
Type A Suffix A Models 1957. An outdated specification, but sill in use. Suffix A means
(TASA) improved oxidation properties.
DEXRON B Models 1967
DEXRON II Models 1973. The most used specification. Includes special requirements
for low static coefficient of friction, high oxidation stability and good
corrosion protection in the wet chamber.
DEXRON II D Models 1981
DEXRON II E Models 1991. Includes, in addition to laboratory tests of physical and
chemical properties, some special requirements for low static coefficient of
friction, high oxidation stability, flash point and fire point, antifoaming agents,
good corrosion protection in wet chamber, seal compatibility requirements.
DEXRON III F Models 1994. The Specification contains upgraded characteristics in relation
to the previous, and primarily higher flash points and fire points and lover
flash and fire tendency. A successor of DEXRON II D and DEXRON Il E.
DEXRON III G Successor of DEXRON III (F) automatic transmission fluids. According to
Specification, a fluid similar to DEXRON Il E, however with upgraded
antioxidation and antiwear properties. Launched in 1997.
DEXRON III H DEXRON III H launched in June 2003, to replace DEXRON III G fluids.
They contain base oils of very high oxidation stability (group 2 and 3). Fluids
from this group have excellent friction and antiwear properties, better flash
and fire control and longer service interval.
DEXRON VI Specification released in 2005 to replace DEXRON III H fluids. The
Specification provides a higher fluid slipping stability, a good oxidation
stability and good antifoaming properties. Fluids that satisfy this
Specification can be used in extended service interval and provide
significant saving of energy.
Table 2. Ford [4, 5] ATF Specification

SQM-2C9007A (M2 This type of fluid has completely different friction properties for all other
C33-G) ATF types for which reason it must not be blended with other fluid types.
Models since 1967.
SQM-2C9010A (M2 Introduced in 1973.
C138-CJ)
ESPM-2C166-H (M2 Introduced in 1981.
C166-H)
MERCON Introduced in 1987. The Specification specifically points out the
requirements related to wear, antifoaming, anticorrosion, seal
compatibility and flash point.
MERCON Introduced in 1992. The revision of the previous MERCON. It requires
more strict control of volatility, colour and all other properties from the
previous Specification.
MERCON V Introduced in 1996. The Specification requires more strict wear, friction
and oxidation tests.
MERCON SP Introduced in 2004. It has a better oxidation stability, antiwear and
friction properties in relation to previous fluid types.
455
Tabela 3. Toyote [5, 6] ATF Specification

Toyota Types T, Toyota ATFs, which have now been superseded by Type T-IV.
T-II and T-III
Introduced in 1993. Toyota fluid specified for Toyota and Lexus
Toyota Type T-IV vehicles. Sold only at Toyota or Lexus dealers or online. Replaces
Types I, II, and III. Also used in Pontiac Vibe (which has a Toyota
powertrain).
Introduced in 2005. This is the newest Toyota fluid and it is also a lower
Toyota WS viscosity fluid than Type T-IV. New Formulation exclusive from Toyota
Engineers for Modern Automatic Transmission in Toyota vehicles.
3 CONCLUSION
On the basis of the above presented ATF Specifications and required physical
and chemical properties, we can conclude the following:
Each type of transmission generally requires a specific type of working fluid,
especially if it is automatic transmission, or even more, modern concept of
automatic/hybrid type;
Fluids designed for lubrication of modern automatic and automatic/hybrid
transmissions have specific values of viscosity, friction coefficient and
additive package. ATF types are designed specifically for operation in
automatic and automatic/hybrid transmissions.
ATF types are not interchangeable. It is not allowed to blend different types,
even in cases when they have the same formulation but different base;
The car and transmission manufacturers recommendation must be strictly
observed regarding the use of ATF of required quality and compatibility;
It is allowed to use ATF types of other manufacturers provided that they
have specifications designed for the respective type of transmission.
REFERENCES
[1] Toyota Prius; http://www.zerauto.nl/2014/01/06/toyota-investeert-in-zeldzame-
aardmetalen/;
[2] Leslie R. Rudnick, Synthetics, Mineral Oils, and Bio-Based Lubricants, 2006.
[3] General motors oil specification,
http://www.oilspecifications.org/general_motors_gm.php;
[4] James Dickey, The History of ATF, 1939-2006,
http://www.lifeautomotive.com/pdfs/history_of_atf.pdf
[5] Ralph Kalal, SELECTING THE PROPER AUTOMATIC TRANSMISISON FLUID,
2011, https://www.cartechbooks.com/techtips/autotransfluid;
[6] Transmission Fluid Guide NO. TB 150122.1, Technical Service Bulletin
Transmission Fluid Guide, 2015, http://martinlubricants.com/technical-service-
bulletin-transmission-fluid-guide/;
456
_____________________________________________________________________________
SIMULATING THE EFFECTS THAT CONTAMINATION HAS ON A

HYDRAULIC SYSTEM PERFORMANCE USING MATLAB/SIMULINK
Maro Oronjak1, Mitar Jocanovi2 Velibor Karanovi3
Abstract: The paper deals with the effects that contaminated oil has on hydraulic system
performance. Contaminated oil is, by far known as the biggest threat to hydraulic system
performance, therefore contamination control is a broad subject in research community
that has been researched through last decades. Solid particles, water and air presence
in oil present a major problem to all technicians and engineers while trying to maintain
high overall performance of a system in terms of energy consumption and reliability. High
influence that contamination has on hydraulic system performance makes the topic so
interest. In this particular case air presence in oil is simulated to show the effect that it
has on overall system performance via matlab/simhydraulics.
Key words: hydraulic system, maintenance, oil contamination, simulation, modelling,

SimHydraulics
1 INTRODUCTION
Fluid power systems (hydraulics) are widely applied control and drive systems
that uses high pressurized hydraulic fluid, and heavy-working loads. Modern fluid power
systems are one of the most reliable sources of power and motion control. Biggest
concern, of every system employing fluids, is facing with contaminants such as solid
particles, liquids and gases. Therefore, control of contamination is especially important
in hydraulic power and control systems in order to provide flexible and accurate control
of motion and forces. Topic is widely used in automotive, aerospace, machine tools,
earth working machinery, and other areas of engineering[1]. Contamination control is
indispensable in preserving the integrity of all material (power and motion) systems.
Without it, few, if any, systems could ever achieve their intended purpose, let alone their
expected service lives [2].
From available literature and papers published it has been shown that most of
the malfunctions in hydraulic systems happen due to presence of contamination in the
system. Forming of wear particles caused by friction between mating surfaces and
progressive deterioration of the hydraulic components, results in performance and
efficiency reduction until total failure of the system itself. Common bad practice in
1
MSc, Marko Oronjak, Faculty Of Technical Sciences, Novi Sad, Serbia, orosnjak@uns.ac.rs
2
PhD, Mitar Jocanovi, Faculty Of Technical Sciences, Novi Sad, Serbia, mitarj@uns.ac.rs
3
PhD, Velibor Karanovi, Faculty Of Technical Sciences, Novi Sad, Serbia, velja_82@uns.ac.rs
457
Oronjak Marko, Jocanovi Mitar, Karanovi Velibor
contamination control is lack of understanding of contamination control technology.

Basically, one of the ways in dealing with contamination of hydraulic systems by
engineers and practitioners is simply selecting filters which are recommended by
equipment manufacturers with specified fluid cleanliness level. Usually, this specified
cleanliness level are in accordance with standards like ISO 4406:99 [3] and NAS 1638
[4]. First of all, there is no filtration system that will remove all contaminants from the
system. Second of all, filtration systems are very expensive, if one considers purchasing
filters with high factor [5]. Thirdly, even though filter can help reduce level of
contamination of the fluid below the tolerated level, it wont repair damage done to the
components i.e. it will not reduce hydraulic components wear rate [6]. Therefore, without
appropriate knowledge of component tolerance, in terms of oil cleanliness level, and
without consideration of expected rates of ingressed and system-generated
contamination, environmental conditions, working parameters, etc., engineers will not
have an easy task to stop further deterioration of the system.
2 CONTAMINATION CONTROL AND SOURCES OF CONTAMINATION

Primarily, hydraulic system designer reluctance and negligence while designing
the hydraulic system in terms of contamination control can lead to serious economic
impact. This does not mean only on short term failures, but on long term defects that
every component of the hydraulic system will suffer from. Usually, contamination control
consists of large number of activities such as planning, organizing, managing, and
implementing all activities required to determine, achieve and maintain a specified
contamination level [2]. Defining the target level should be done right before system is
put into operation.
Even though it sounds paradoxically, the first way of contamination is through
new oil. Purified in rafinery, hydraulic oil travels through hoses, pipes, and barrels where
it gets contaminated before getting to hydraulic reservoir. Ingressed contamination is
second one. This way of contamination is especially noticeable in working environments
such as mines, steel factory, agriculture fields et cetera, especially machines that
operate around-the-clock and away from professional maintenance staff. Therefore,
crucial task while maintaining cleanliness level is constant monitoring of equipment
status as well as hydraulic fluid[7]. Third, and most dangerous one is, self-generated
contamination due to internal damage of hydraulic components.
Water, in terms of contamination, can be as destructive to the operation and life
of fluid system as particulate contaminants [2]. Sources of water can originate from
seepage through reservoir, breathers, worn seals, etc. Presence of water in hydraulic
fluid can be in one of the following states: free, dissolved or emulsified. Negative effects
that water has on hydraulic oil is corrosion of components, rinsing of additives, reduced
lubrication strenght, reduced filterability, etc [8].
Nonetheless, aeration contamination through reservoir and actuators are also
causing degradation of hydraulic oil. It is by far known that air in hydraulic oil can cause
large amount of damage to hydraulic system indirectly through degradation of hydraulic
fluid [9]. Problems resulting from air has the following major effects: slower response
and loss of control (free or entrained air makes the system less stiffer), loss of power (air
needs to be compressed before fluid can cause actuator to move), loss of bulk modulus
(air-oil mixture appears to increase the compressibility of the fluid), foaming, working
temperature increase, cavitation erosion, etc [10]. Presence of air in hydraulic oil filling
can exist in one of the following states: free, entrained and dissolved. Dissolved air
creates no critical problem as long as it remains dissolved. Free air is trapped within a
system, e.g. air pocket. Entrained air exists in a form of free bubbles within the fluid.
458
Simulating the effects that contamination has on a hydraulic system performance using
MATLAB/SimHydraulics
However, it can be released within oil to the surface, depending on the fluid property
density or viscosity. Hence this can lead to creating a gas foam. It occurs when entrained
gas bubbles become larger and rised to the fluid surface. At atmospheric conditions, the
compressibility of air can be as much as 20000 times greater than that of the liquid [2].
Therefore, it is essential to remove air from the system before any detrimental effect that
can cause.
One of the facts that can not be bypassed is that air contamination can cause
erosion and abrasion of components indirectly. For example, the presence of air can
cause cavitation erosion in the pump. Erosion leads to material removal from the
components surfaces which is afterwards distributed through the whole system.
Therefore, created particles can cause significant damage in terms of abrasive wear.
Which is one of the reasons to particularly deal with air contamination in this paper.
Beside presenting potential types of contamination and their presence in the
system, following figure 1. presents potential spots of wear, leakages and contamination
entrance. Monitoring and measuring pressure in various parts of the system can be used
to detect pressure drops and leakages, based on what can be concluded potential spots
of excessive wear of components.
Figure 1. Scheme of hydraulic system andpotential presence of contamination
Different type of hydraulic oils with different amount of trapped air will be
simulated in Matlab/SimHydraulics to compare and discuss the influence that it has on
overall system performance.
3 MODELLING HYDRAULIC SYSTEM IN MATLAB/SIMHYDRAULICS

Modelling and simulation of systems is used for the purpose of getting the
information about behaviour of the system without having to design the same system in
the real world. In order to attain that information without the making a real system,
459
researchers are striving to use his "logical replacement" a model [11]. Modelling is a
vital tool for cost reduction and design process speed up in most engineering fields. In
this particular example hydraulic system is modelled via Matlab/SimHydraulics.
Matlab/SimHydraulics was developed to design hydraulic systems, which are modelled
as block schemes. It includes models of different elements like valves, pumps, tanks,
viscoelastic pipes, etc.[12][13]. Scheme represented in figure 1. is designed in Simulink
library browser (SimHydraulics). Model is represented in figure 2. From the scheme it
can be seen that building model in Matlab/SimHydraulics can be a little complicated.
There are still not enough modeling conducted in Matlab/SimHydraulics that have been
compared to realistic physical models. Some examples are given by engineers in Matlab
webinars via 3D simulation [14].
Figure 2. Hydraulic system modelled in MATLAB/SymHydraulics
Beside modelling of hydraulic components in simulink browser, fluid modelling

are done through hydraulic fluid reference block. Hydraulic fluids used in the simulation
were ISO VG 46 (Esso univis n 46) and ISO VG 32 (Esso univis n 32). While designing
a simulation experiment, relative amount of trapped air were changed in order to confirm
the fact that system will act differently in different conditions by also changing the
temperature of the system itself. Actuators namely: "Double-Acting Hydraulic Cylinder
1" and "Double Acting Hydraulic Cylinder 2" (see figure 2) are used with piston strokes
of 0.5 m and 0.4 m, respectively. Basically, system was modelled as hydraulic press, in
which actuator 2 moves the load towards actuator 1, where actuator 1 performs pressing.
460

From designed model results are represented in simulation chart through Time
Scope block (see figure 2). Simulation of the system was done in time interval of t = 24
seconds. Results show anomaly while simulating the effect of different type of fluids
using relative amount of trapped air in different cases: using relative amount of air
(0.005%, 0.1%, 0.5%, 0.8% - 50ppm, 1000ppm, 5000ppm, 8000ppm) for different
temperatures in all three cases for air (40, 60, 80). For large amount of data and
limited space only results for ISO VG 46 are shown via diagrams in figures 3a, 3b, 3c
and 3d.
Figure 3a. Hydraulic oil ISO VG 46 on 60 with 50 ppm of air
Figure 3b. Hydraulic oil ISO VG 46 on 60 with 1000 ppm of air
461
Figure 3c. Hydraulic oil ISO VG 46 on 60 with 5000 ppm of air
Figure 3d. Hydraulic oil ISO VG 46 on 60 with 8000 ppm of air
It is confirmed that cylinders behave softer and less stiffer and precise. From
diagrams (from 3a to 3d) it can be concluded that Cylinder 1 while extracting it first
compresses the air and then the fluid. Especially on figure 3d. compared to figure 3a. it
is shown the outspread amplitude which corresponds the soft behaviour of the cylinder
itself.
5 CONCLUSION AND FUTURE RESEARCH

During the research, authors havent found much research conducted on the
topic contamination control, even though it represents one of the unavoidable topics
while trying to preserve life cycle of hydraulic components. Mainly, operating conditions
have a significant role in reliability of a hydraulic component or system [15]. Therefore,
it needs to be approached proactively while maintaining a system. Thus, hydraulic
system performance highly depends on maintenance. Following improper maintenance
462
procedures may be a reason of widespread contamination and system overal

performance decrease.
While caring out the maintenance procedure in terms, for example, replacing
fitting, it may "cost" the system another 6000 to 60000 particles > 5m [1]. Even so,
adding a filtration system requires a lot of effort on designer behalf, not only by collecting
the information about the environment in which system operates but also information
about component cleanliness level. Therefore, best way to approach contamination
control is to include maintenance procedures such as preventive and proactive. It has
been shown through this paper and via simulation how does air contamination influence
hydraulic system performance. Additional compressing of air beside compressing a
hydraulic fluid has a high effect in terms of energy waste i.e. productivity. Therefore,
overall time for extraction and retraction of cylinder while performing work (moving load)
is slightly higher if one doesnt take into account large number of cycles that it has to
perform.
Future research should be conducted in simulating the hydraulic systems
behaviour, based on the influence of contamination and in the same time conduct an
experiment in realistic environment to confirm obtained results from the simulation model
via Matlab/SimHydraulic.
REFERENCES
[1] Stecki, J. (2009). Contamination Control and Failure Analysis. In S. o. (STLE), R. M.
Gresham, & G. E. Totten (Eds.), Lubrication and Maintenance of Industrial
Machinery: Best Practices and Reliability (pp. IV.51-58). 6000 Broken Sound
Parkway NW, Suite, Boca Raton, Florida: CRC Press Taylor & Francis Group.
[2] Fitch, E. C. (1988). Fluid Contamination Control. Stillwater, OK 74075: FES, Inc
5111 N. Perkins Rd.
[3] ISO4406:1999. (1999). Hydraulic fluid power Fluids Method for coding the level
of contamination by solid particles. ISO.
[4] 1638, N. (1964). Cleanliness Requirements of Parts Used in Hydraulic Systems.
National Aerospace Standard, NAS.
[5] Wright, J. (2008). Understanding Filter Efficiency and Beta Ratios. Retrieved
September 21, 2016, from www.machinerylubrication.com:
http://www.machinerylubrication.com/Read/1289/oil-filter-efficiency.
[6] Felix, N.G., Harding, J., Glass, J. (2017 in press). Improving hydraulic excavator
performance through in line hydraulic oil contamination monitoring.Mechanical
Systems and Signal Processing. Vol. 83. pp.176-193. DOI:
http://dx.doi.org/10.1016/j.ymssp.2016.06.006
[7] Lovrec, D., Ti, V. (2012). On-line condition monitoring systems for hydraulic
machines. Facta universitatis. Mechanical Engineering Series. Vol.10, No.1, 2012,
pp. 81 89.
[8] Casey, B. (2016). How To Deal With Water In Hydraulic Oil. Hydraulics&Pneumatics.
Retrieved: October 6, 2016, from: http://hydraulicspneumatics.com/blog/how-deal-
water-hydraulic-oil
[9] Johnson M., (2009).Industrial fluid contaminants and their effect, Tribology and
Lubrication Technology, 65(9), pp. 26-31
[10] Magorien, Vincent G., (1967). Effects of Air on Hydraulic Systems.
Hydraulics&Pneumatics. Retrieved October 5, 2016, from:
http://hydraulicspneumatics.com/hydraulic-fluids/effects-air-hydraulic-systems-
0?page=1.
463
[11] Erdeljan, A., apko, D. (2015). Modeling and Simulation of the system with
examples. FTN Izdavatvo, Novi Sad. (written in Serbian).
[12] Vechet, S.,Krejsa, J. (2009). Hydraulic arm modeling via matlab simhydraulics.
Engineering Mechanics, Vol. 16., No. 4., pp. 287-296.
[13] Himr, E. (2013). Numerical simulation of water hammer in low pressurized pipe:
comparison of SimHydraulics and Lax-Wendroff method with experiment. EPJ Web
conferences 45, 01037. EDP Sciences. DOI: 10.1051/epjconf/20134501037
[14] Miller, S. (2016). Modeling a Hydraulic Actuation System. Mathworks. Recorded
June 10, 2016. Retrieved: September 25th, 2016, from
https://www.mathworks.com/videos/modeling-a-hydraulic-actuation-system-
68833.html
[15] Jocanovi, M., evi, D., Karanovi, V., Beker, I. & Dudi, S. (2012). Increased
efficiency of Hydraulic Systems Through Reliability Theory and Monitoring of System
Operating Parameters. Strojniki vestnik Journal of mechanical engineering.
Vol.58, Issue 4. pp.281-288.
464
_____________________________________________________________________________
DIJAGNOSTIKI NADZOR HIDROAGREGATA U HE VIEGRAD

Vujadin arenac1, Ranko Antunovi2, Mio Plei3
Rezim: Napredak raunarske i mjerne tehnike, te stalno smanjenje cijena razvoja

kompjuterskog hardware-a, omoguuje danas znaajan iskorak u zatiti mainskih
sistema, uz finansijski vrlo prihvatljiva ulaganja. Pod monitoringom rada hidroagregata
se podrazumijevaju sistemi koji slue u svrhu dijagnostike, stalnog praenja stanja i
zatite rada hidroagregata u toku njegove eksploatacije. Paljivo odabran i
implementiran sistem moitornga moe pomoi hidro operateru da izbegne podruja
rada u zonama gde vibracije ili kavitacija mogu dovesti do trajnih oteenja sistema.
Pored toga, sistem omoguuje vrlo rano otkrivanje potencijalnih oteenja, mesta i
vrste greaka, planiranje zastoja, potrebnih aktivnosti, potrebnih delova, ljudske
resurse, trokove, itdU ovom radu dat je opis implementiranog nadzorno-
dijagnostikog sistema u HE Viegrad i prikazani su neke od rezultata dijagnostike
analize koje su raene sa ovim sistemom.
Kljune rijei: Dijagnostika - Monitoring sistem - Hidroagregati System1 - Vibracije
DIJAGNOSTIC MONITORING OF HYDRO UNITS IN HPP VIEGRAD

Abstract: Progress of computer and measurement techniques, and constantly
reducing the price development of computer hardware, today allows a significant
step forward in the protection of mechanical systems, with very financially acceptable
investment. Monitoring of hydro units include systems that serve the purpose of
diagnostics, continuous monitoring and protection of hydro units during exploitation.
Carefully selected and implemented monitoring system can help the operator to
avoid areas of work in areas where vibrations or cavitation can cause permanent
damage to the system. In addition, the system allows early detection potential
damage, areas and type of errors, planning delays, necessary actions, requied parts,
human resources, costs, etc...This paper provides a description of the implemented
monitoring and diagnostic system in HPP Viegrad and are some of the results of
diagnostic analysis done with this system.
Key words: Diagnostic - Monitoring system Hydro Units - System 1 - Vibrations
1
dipl. in. ma. Vujadin arenac, HE NA DRINI VIEGRAD, Viegrad, RS, BiH,
vujadin.sarenac90@gmail.com
2
prof. dr. Ranko Antunovi, MAINSKI FAKULTET, Istono Sarajevo, RS, BiH,
rankoantunovicmf@gmail.com
3
dipl. ing. el. Mio Plei, HE NA DRINI VIEGRAD, Viegrad, RS, BiH, mico.plecic@henadrini.com
465
Vujadin arenac, Ranko Antunovi, Mio Plei, Daliborka Petrovi
1 UVOD
Pod monitoringom rada hidroagregata se podrazumijevaju sistemi koji slue u
svrhu dijagnostike, stalnog praenja stanja i zatite rada hidroagregata u toku njegove
eksploatacije. Takvi dijagnostiki sistemi ukljuuju automatsku akviziciju podataka,
njihovu obradu, memorisanje, prikazivanje i korienje za potrebe dijagnostike, zatite i
djelimino za sistem upravljanja. To je tzv. ON-LINE praenje radnog stanja
hidroagregata sa mogunou procjene raznih veliina i parametara koji se neprekidno
prate. U sutini se radi o integrisanom on-line monitoringu stanja koji ukljuuje
istovremeno praenje raznih parametara i veliina koji u potpunosti definiu stanje
objekta i njegovu raspoloivost za korisnika (u elektrani i sistemu).
Ovakvi sistemi se sastoje od vie podsistema i oni moraju biti sinhronizovani u cilju
uspostavljanja meusobnih korelacija i procjena. Sistem monitoringa ima prevashodni
zadatak da pripremi sve relevantne podatke za pravilnu dijagnostiku rada maine
[1,2,3,4,5,6,7,8].
2 PARAMETRI I TEHNIKE MONITORINGA HIDROAGREGATA

Parametri nadzora sistema su posredne individualne veliine povezane sa
strukturnim parametrima (vibracije, temperatura, zazor u leaju, pritisak ulja i dr.) i
nosioci su tanih informacija o tehnikom stanju sistema. Parametri koji donose najvie
informacija o stanju tehnikog sistema svakako su parametri vibracija, pored njih
takoe su bitni i parametri pomjeranja, temperature, buke, strujni parametri, parametri
ulja za podmazivanje i dr.
Veliki broj tehnika je raspoloiv kod monitoringa rotacionih sistema, a koji e
biti izabran zavisi od dubine potrebnog diijagnosticiranja, uz ekonomski opravdanja
ulaganja. Navedimo neke od najee korienih tehnika kod monitoringa ove vrste:
vibroakustina analiza
analiza vazdunog zazora
analiza magnetnog polja
analiza parcijalnih pranjenja
analiza radnih parametara
o energetska analiza, termovizijska analiza, analiza premjetanja i irenja
odreenih sklopova u sistemu, analiza tehnolokih parametara (protok,
pritisak, nivo tenosti, tehnoloki parametri vode i dr.)
analiza produkata habanja
Prema praksi poznatih svjetskih proizvoaa hidrogeneratora prate se sledee
veliine i parametri nadzora: temperature dijelova i sklopova generatora i rashladnih
fluida, vibracije mehanikih dijelova i relativna pomjeranja (orbite), forma statora, rotora
i zazor generatora, parcijalna pranjenja u namotaju, radni podaci generatora,
prisustvo vode u ulju, brzina obrtanja, magnetni fluks, protok pritisak vode za
hlaenje, nivoi ulja u leajevima, kontrola malih obrtaja, stanje magnetnog jezgra
statora, sadraj gasova i vlage u rashladnom vazduhu, stepen iskorienja generatora,
temperature namotaja rotora, kvalitet rashladne vode (destilata), mjerenje buke u
buretu generatora, kavitacija i pritisci kroz turbinu. Na sl.1 prikazana su mjerna mjesta
pojedinih dijagnostikih parametara kod nadzora rada hidroagregata.
466
Dijagnostiki nadzor hidroagregata u HE Viegrad
Slika 1. Mjerni parametri monitoringa hidroagregata
U tabeli 1, date su vrste najeih otkaza kod hidroagregata i uporedo sa tim

data su mjerenja kojima moemo identifikovati uzroke neispravnosti u toku eksplatacije
samog sistema.
3 SISTEM MONITORINGA HIDROAGREGATA U HE VIEGRAD

Mjerni sistem za dijagnostiki nadzor na sva tri hidroagregata u HE Viegrad,
proizvoaa Bently Nevada GE System1, instalisan je i puten u pogon krajem 2014.
god. Struktura nadzorno-dijagnostikog sistema data je na slikama 2 i 3.
Osnovni zadatak ovog nadzornog sistema je praenje stanja, zatita
postrojenja i rana dijagnostika neispravnosti u radu za sva tri hidroagregata, na bazi
instalisanog sistema koji sadri:
Monitoring vibracionog stanja
Monitoring parcijalnih pranjenja (PD - monitoring)
Monitoring magnetnog fluksa generatora
Monitoring vazdunog zazora (izmeu rotora i statora generatora)
Monitoring temperaturnih i potrebnih procesnih parametara
Ovaj sistem je u potpunosti usklaen sa vaeim domaim i meunarodnim
standardima od kojih izdvajamo ISO 7919; ISO 10816; IEC 602070:2000 i IEC 60034-
27.
467
Tabela 1. Pregled moguih otkaza na hidroagregatima i potrebna mjerenja i analize

kojima dijagnosticiramo uzroke neispravnosti [9]
MJERENJE
VRSTA OTKAZA
TEMPERATURA AKSIJALNOG
POZICIJA GLAVNOG ZASUNA

VARNIENJE GENERATORA
DETEKTOR FAZE (IMPULS)
TEMPERATURA VODEEG
DEBLJINA ULJNOG FILMA
I POTREBNO
STATORA GENERATORA
ZAZOR U GENERATORU
VIBRACIJA POKLOPCA
VIBRACIJA VODEEG
PROCESNE VELIINE
VIBRACIJA KUITA
ZAZOR ZAPTIVNOG
LEAJA (BACANJE
MJERENJE
AKSIJALNI LEAJ
TEMPERATURA
GENERATORA
PO OBRTAJU
(AIR GAP)
PRSTENA
TURBINE
LEAJA
LEAJA
Minimalni sistem
Standardni sistem

Preporueni sistem

MEHANIKI DEBALANS

(1X)
ELEKTRINI DEBALANS

(1X)
HIDRAULINI DEBALANS

(1X)
KRITINE RADNE ZONE
(NE1X)
OTKAZ SMIUE OSOVINICE

(1X)
NESAOSNOST

(1X)
KAVITACIJA
ZAPTIVNI PRSTEN
VELIKE VIBRACIJE TURBINE
PREOPTEREENJE LEAJA
ZAMOR LEAJA
NEDOVOLJNA ZAPTIVENOST
LEAJA
OTEENA IZOLACIJA
STATORA
VIBRACIJE NAMOTAJA U
STATORU

POMJERANJE ROTORSKOG
PRSTENA

POMJERANJE JEZGRA
STATORA

NERAVNOMJERAN ZAZOR
STATORA
EKSCENTRIAN
ROTOR/STATOR
KONCENTRIAN
ROTOR/STATOR

SAVIJANJE STATORA
LABAVE IPKE STATORA
NEURAVNOTEENE SILE U
ZAZORU STATORA
ZAEPLJENO HLAENJE
STATORA

BLOKIRANI VODOVI
VENTILACIJE STATORA
PREGREJANI NAMOTAJI
STATORA
468
Alarmi i dogadjaji slue za parvovremeno upozorenje na potencijalne

probleme u postrojenju. Event (dogadjaj) je deavanje koje je potencijalno vano i
zahteva panju. Dogadjaj moe biti tumaen kao promena statusa merne take ili
softverska promena u Sistemu 1. Dogadjaji se koriste za nadgledanje radnog statusa
uredjaja, i pomau u otklanjanju problema.
Alarm specijalna vrsta dogadjaja koja upozorava na stanje nadziranog
uredjaja. Moe biti softverski ili hardverski. Softverski je generisan u Sistemu 1 a
hardverski u 3500 monitoring reku. Alarm se generie kada vrednost merene i/ili
izraunate veliine premai zadatu vrednost koja je upisana pri konfiguraciji.
Zatitni alarmi se generiu u kontinualnom nadzornom sistemu u 3500
rekovima u postrojenju (zato se zovu hardverski ili HW alarmi) nezavisno od Sistema
1. Ovi alarmi se koriste za zatitu postrojenja u sluajevima kada bi dua eksploatacija
maine dovela do njenog oteenja. Zato su esto povezani na zatitne releje kao
zatite maine kada je potrebno brzo reagovanje.
Radi preglednijeg auriranja baze podataka za potrebe nadzora i
dijagnosticiranja neispravnosti u radu hidroagregata, sistem je podeen tako da vri
nadzor u sledeim reimima rada hidroagregata:
1. Agregat zaustavljen
2. Startovanje (zalijetenje)
3. Malo optereenje
4. Nominalni radni reim
5. Zaustavljanje agregata
Slika 2. Struktura nadzorno-dijagnostikog sistema System 1
469
Slika 3. Akvizicija podataka sistema za monitoring pracijalnih pranjenja na HE

Viegrad
Akvizicija podataka
Aplikacija za akviziciju podataka DAQ (Data Acquizition) je jezgro Sistem 1
platforme. Mora biti instalirana na raunaru za akviziciju podataka. Kontrolie se preko
posebne aplikacije DACM (Data Acquizition Control Manager), o kojoj e biti rei u
narednom poglavlju.
Svaki raunar za akviziciju podataka moe prikupljati podatke za jedno
postrojenje. Postrojenje je skup svih elemenata koj ulaze u Sistem 1.
Ekranski prikaz
Aplikacija za ekranski prikaz je korisniki interfejs ka Sistemu 1. Ona prima i
prikazuje podatke u realnom vremenu od DAQ dodeljenog postrojenju. Kada prikazuje
arhivske podatke, ekranski prikaz povlai podatke direktno iz arhivske baze preskaui
DAQ.
Za analizu, ekranski prikaz prezentuje arhivske i podatke u realnom vremenu
koristei veliku selekciju grafika. Moe prikazati bilo koj podatak odgovarajuim
grafikom, kao nivo vibracija, temperature, pritiske itd... Sistem 1 moe prikup iti a
ekranski prikaz prezentovati bilo koju vrednost izmerenu senzorima, poslatu sa druge
platforme, runo uneenu ili izraunatu.
4 PRIMJER DIJAGNOSTIKE ANALIZE SA SISTEMA

U ovom radu prikazan je jedan primjer dijagnostike analiza stanja koja je raena
na hidroagregatu br.2.[10]. Poetni ekranski prikaz mjernih parametara dat je na sl.4.
Analiza vibracija hidroagregata raena je na bazi mjernih podataka koje je
instalisani nadzorno-dijagnostiki sistem snimao u periodu od 01.01. 2015-12.02.2015.
Ovde je prikazan izvod iz dijagnostike analize o stanju hidroagregata br.2, koji
je raen na bazi podataka koje je instalisani nadzorno-dijagnostiki sistem snimao u
periodu od 01.01. 2015-12.02.2015.
Najnepovoljnije dinamiko stanje hidroagregata je pri zalijetanju i zaustavljnju
hidroagregata u dijapazonu broja obrtaja od 50-70 ob/min, gdje se javlja nagli skok
vibracija, prikazano na sl.5.
470
Slika. 4. Poetni ekranski prikaz nadzorno-dijagnostikog sistema hidroagregata

br.2
Slika 5. Trend nivoa apsolutnih vibracija pri zalijetanju hidroagregata
Ovo se moe okarakterisati kao rezonatna frekvencija, najvjerovatnije je to

najnia kritina brzina rotirajueg sklopa ili rezonantna frekvencija sprovodnog aparata
jer u tom momentu i dolazi do potpunog zatvaranja lopatica sprovodnog aparata, ali
trebalo bi uraditi i dublju korelacionu analizu uputanja hidroagregata u pogon i
sagledat mogunost ugradnje stabilizatora EE sistema.
471
Slika 6. Prikaz trenda spektra rotornih vibracija
Sa spektralnih prikaza jasno se uoava dominacija neuravnoteenosti na

osnovnom tonu, a uoavaju se i niskofrekventne vibracije i malo prisustvo 2X
harmonika vibracija. Na turbinskom dijelu uoava se malo prisustvo fluidnih sila,
okarakterisano kao turbulencija proticanja i vrtlog u difuzoru, koja se uglavnom javlja
pri manjoj snazi i njenim promjenama (uoljiva frekvencija 0,25 Hz i prag
visokofrekventnih komponenti), sl.6 i 7.
Slika 7. Prikaz orbita rukavaca u leajevima
Slika 8. Analiza trenda komponente 1X rotornih vibracija sa generatoskog leaja
472
Analizom polarnih dijagrama jasno se vidi da su vektori mehanike i elektrine

neuravnoteenosti u protufazi i da je to razlog smanjenja ukupnog nivoa vibracija.
Uoava se da se faza 1X vektora vibracija mijenja sa poveanjem snage
hidroagregata, sl.8. Takoe se uoava i postojanje sila elektrinog porijekla (na
frekvenciji 100 Hz).
Slika 9. Prikaz ploaja ose agregata na bazi mjerenja ploaja rukavaca u leajevima
Analizom kretanja poloaja rukavca u GVL jasno se uoava da jedosmjerna

sila magnetnog polja vraa osu rotora u poetni poloaj i sa tim smanjuje izmjetenost
geometrijske i inercijalne ose i ukupna vrijednost vibracija pada, sl.9. Sa poveanjem
optereenja dolazi do daljeg izmjetanja ose rukavca u leaju, to prouzrokuje faznu
promjenu vibracijskog vektora 1X ali ukupni nivo vibracija ostaje isti, sl.8.
5 ZAKLJUAK
U poslednje vrijeme, razvojem mikroprocesorske tehnologije i na njoj
zasnovanog procesiranja signala, omoguen je znaajan iskorak u zatiti maina, uz
finansijski vrlo prihvatljiva ulaganja.
Parametri nadzora sistema su posredne individualne veliine povezane sa
strukturnim parametrima (vibracije, temperatura, zazor u leaju, pritisak ulja i dr.) i
nosioci su tanih informacija o tehnikom stanju sistema. Parametri koj i donose najvie
informacija o stanju tehnikog sistema svakako su parametri vibracija, pored njih
takoe su bitni i parametri pomjeranja, temperature, buke, strujni parametri, parametri
ulja za podmazivanje i dr.
Instalisani nadzorno-dijagnostiki sistem u HE Viegrad, GE System1-
proizvoaa Bently Nevada, pokazao se sofisticiran i pouzdan nadzorni sistem.
473
Neposrednim praenjem i analizom stanja dobija se kvalitetan uvid u stanje

hidroagregata te se sprovode akcije odravanja onda kada je to stvarno potrebno,
odnosno na osnovu stanja maine. Na taj nain moemo da upravljamo mainama i
procesom u cjelini to rezultira poveanju sigurnosti i iskoristivosti maina i pogona,
smanjuju se trokovi i poveava profitabilnost, to je uslov za trino poslovanje.
Paljivo odabran i implementiran sistem moitornga moe pomoi hidro
operateru da izbegne podruja rada u zonama gde vibracije ili kavitacija mogu dovesti
do trajnih oteenja sistema. Pored toga, sistem omoguuje vrlo rano otkrivanje
potencijalnih oteenja, mesta i vrste greaka, planiranje zastoja, potrebnih aktivnosti,
potrebnih delova, ljudske resurse, trokove, itd
U ovom radu prikazana je jedna vibrodijagnostika analiza stanja
hidroagregata pomou koje se u radnom reimu hidroagregata jasno mogu uo iti
odreene neispravnosti koje su postojale u sistemu nakom ugradnje nadzornog
sistema. Treba napomenuti da je jako bitno uraditi poetno odnosno nulto stanje
maine i pratiti dalji trend promjene dijagnostikih parametara.
LITERATURA
[1] Zelingher, S. ON-LINE CONDITION MONITORING AND EXPERT SYSTEM FOR

HYDRAULIC PUMP STORAGE UNITS, CIGRE R11-206, Paris, 1996
[2] Bently Nevada, Predictive maintenance: How the pieces fit together, Orbit, Vol.7,
No.2, June 1986
[3] Muszynska, A. Vibrational Diagnostics of Rotatinf Machinery Malfunctions,
International Jurnal of Rotating Machinery, 1995, Vol. 1, No. 3-4, pp. 237-266
[4] Multi-channel & multi-task Analyzer-PULSE, Bruel & Kjaer advanced training
course, held in Budapest, Hungary, on 14-16 June 2005
[5] Integrated Condition Monitoring, SKF, Application Note CM5057 (Revised 1-04)
[6] Seminar C100, Competence & Innovation, Solution for condition monitoring,
condition diagnosis, condition-based maintenance and field balancing of
machinery, Bruel & Kjear, Schenck
[7] Sensors in Condition Monitoring, SKF Reliability System, Application Note
CM3002
[8] Sarenac, M. R. Antunovic, "MONITORING AND MANAGMENT ROTATING
MACHINERY", 9 Internacional Research/Expert Conference "Trends in the
Development of Machinery and Associated technology" TMT 2005, Turkey, Antaly
26-30 September 2005. god.
[9] Lien H., Zuber, N. PROAKTIVNO ODRAVANJE HIDROTURBINSKE OPREME
PRIMENOM 01DB-METRAVIB ONEPROD KONCEPTA, asopis Tehnika
dijagnostika br. 1/2008, pp. 3-10
[10] Implementacija i validacija nadzorno-dijagnostikog sistema sa dijagnostikom
analizom stanja hidroagregata u HE Viegrad, Elaborat projekta br. 214-1/2015,
474
_____________________________________________________________________________
UKLANJANJE NASLAGA SA UNTRANJE POVRINE CIJEVI

VODENOPARNOG TRAKTA PARNOG KOTLA 64, METODOM
TERMOKISEONINOG TRETMANA (TKT) U TERMOELEKTRANI
UGLJEVIK
Anto S. Gaji1, Sinia Gaji2, Ljilja Rudi-Miki3, Jagoda Krsmanovi4
Rezime: Zbog nepouzdanosti rada bloka Termoelektrane Ugljevik u priodu prije

kapitalnog remonta 2010. godine, u okviru predvienih radova za ovaj remont,
donesena je odluka da se izvri i termokiseonini tretman (TKT) vodenoparnog trakta
parnog kotla 64.Pomenuti tretman je ukljuen zbog potrebe vee pouzdanosti,
raspoloivosti i efikasnosti termoenergetskog bloka sa nadkritinim parametrima, koja
se oekivala nakon tretmana.Termokiseonini tretman obuhvatao je dvije faze:
Mehaniko razaranje faznih slojeva i njihovu evakuaciju iz trakta dejstvom
vode ili pare.
Obrazovanje novih oksidnih slojeva goa.
Ovim tretmanom su udaljeni rastresiti produkti korozije a istovremeno je stvoren novi
zatitni sloj na unutranjoj povrini cijevi.
Ovaj tretman kao i drugi zahvati koji su raeni u toku kapitalnog remonta 2010.godine,
omoguili su veu raspoloivost, pouzdanost i efikasnost bloka, to se manifestovalo
najveom proizvodnjom elektrie energije u dvadesetsedmogodinjoj istoriji u
godinama nakon toga (2011. god. 1836 GWh; 2012. god. 1837GWh).
Kljune rijei: Efikasnost, energija, korozija, pouzdanost, raspoloivost, razaranje,

termokiseonini, trakt, tretman.
DESCALING THE INNER SURFACE WATER STEAM PIPE STEAM BOILER TRACT
"P 64", BY THERMALLY-OXYGEN TREATMENT (TKT) THE TPP UGLJEVIK
Abstract: Due to the unreliability of work thermal power plant Ugljevik the stated period
before major overhaul in 2010, as part of the planned works for this overhaul, the
decision was made to carry out thermo-oxygen treatment (TOT) water-steam tract of
steam boiler 'P 64'.The said treatment is included for purposes of greater reliability,
1
Dr Anto Gaji, RiTE Ugljevik, BiH, antogajic@yahoo.com
2
Sinia Gaji, RiTE Ugljevik, BiH, sinisagajic@yahoo.com
3
Ljilja Rudi-Miki, RiTE Ugljevik, BiH,
4
Jagoda Krsmanovi, RiTE Ugljevik, BiH,
475
Anto S. Gaji , Sinia Gaji, Ljilja Rudi-Miki, Jagoda Krsmanovi
availability and efficiency of the thermal power plant with supercritical parameters,
which are expected after treatment.Thermo oxygen treatment consisted of two stages:
Mechanical destruction phase layers and their evacuation from the fact tract
of water or steam.
Education of new oxide layers iron.
With this treatment are only loose corrosion products at the same time created a new
protective layer on the inner surface of the pipe.
This treatment as well as other operations that were carried out during the major
overhaul in 2010, enabled higher availability, reliability and efficiency of the block,
demonstrated the highest production of electric energy in twenty seven year history in
the years after that (2011 god. 1836 GWh; 2012 . god. 1837GWh).
Key words: Efficiency, Energy, corrosion, reliability, availability, destruction, thermo

oxygen, tract treatment.
1 UVOD
Postrojenje termoelektrane Ugljevik puteno je u rad 1985.godine.
Kotao ovog postrojenja je radijacioni, protoni sa jednim meupregrijanjem pare. Loi
se ugljenom prainom i ima suvi odvoz ljake. Tip kotla je Ramzin ( 1000-255 -
641) proizvoaa ZIO Podoljsk Rusija. Parametri pregrijane (svjee) pare su:
produkcija pare 1000(t/)
pritisak na izlazu 250 bara
temperatura primarne (svjee) pare) 545C.
Parametri meupregrijane (sekundarne pare) su sledei:
pritisak na izlazu 40,11 bara
temperatura na izlazu 545 C
protok pare 811,4 t/
Paramertri napojne vode na ulazu u kotao:
pritisak na ulazu u kotao 300 bara
Gorivo (osnovno):
mrki ugalj, donje toplotne moi 7.180 do 10.930 kJ/kg
Gorivo potpalno:
mazut donje toplotne moi 36.000 do 41.000 kJ/kg
2 CILJ TRETMANA
U cijevima kotla se deava elektrohemijska korozija koja se ispoljava kao
oksidacija na jednom mjestu a redukcija na drugom mjestu njegove povrine, bez
obzira to je cijev od jednorodnog materijala. Odigravanje elektohemijske korozije u
praksi je obino okarakterisano lokalizacijom anaodnog i katodnog procesa na
razliitim dijelovima povrine metala to dovodi do neravnomjernog ili mjestimino
korozionog razaranja metala. Kao primarni produkti korozije nastaju F2O3 i FeOOH.
Sekundarni proizvodi korozije koji nastaju uporedo sa primarnim, meusobnim
reakcijama primarnih proizvoda ili reakcijama primarnih proizvoda i gasova ili elektrolita
iz okruenja su Fe3O4 ili Fe8O11.
Sekundarni proizvodi korozije su teko rastvorljivi pa stvaraju zatitnu opnu
titei metal od dalje korozije. Tako formirana zatitna opna po cij eloj unutranoj
povrini cijevi moe da titi povrinu metala od korozije dui vremenski period (godinu i
vie).
476
Uklanjanje naslaga sa untranje povrine cijevi vodenoparnog trakta parnog kotla 64,
metodom termokiseoninog tretmana (TKT) u termoelektrani Ugljevik
Radi uklanjanja naslaga na unutranjoj povrini cijevi vodoparnog trakta

primjenjiva je metoda parokiseoninog ienja i pasivizacije cijele povrine
vodoparnog trakta bloka i poznata je kao termokiseonini tretman (TKT) Ovom
metodom se djelimino odstrane naslage (oko 30%), dok se ostatak fiksira za metal
zatitnim oksidnim slojem.
Zatitni sloj je bez pora i pukotina i ne proputa ni jone ni elektrone metala, a
neutralan je i daje dugotrajnu zatitu metala od korozije.
Cilj ovog postupka je udaljavanje rastresitih dijelova produkata korozije i
stvaranje zatitnog sloja na povrinama cijevi radi spreavanja problema u radu i
zastoju bloka.
3 TEHNIKI POKAZATELJI RADA BLOKA

Od poetka rada bloka 1985.godine, isti je izradio ukupno 106 000 sati uz dui
prekid u radu od 3,5 godina u ratnom periodu. Svakako da je ovako dug zastoj imao
uticaja na poveanu koroziju na unutranjoj povrini cijevi. Prije kaptalnog remonta
2010.godine rad bloka je bio otean jer ga je pratilo esto pucanje cijevi. Razloge
njihovog pucanja treba traiti i u nekoherentnom sloju nanosa korozionih proizvoda,
kao i neravnomjernom prenosu toplotne energije. Ovo su injenice koje potvruju
zaprljanost unutranje strane cijevi to je i potvreno elektrohemijskom analizom
isjeka cijevi u labaratoriji TE.
4 ZADATI I ODRAVANI VODNI REIM

Vodno-hemijski reim boka u znaajnoj mjeri odraava sigurnost i
ekonominost njegovog rada. Optimalni vodno-hemijski reim energobloka nadkritinih
parametara treba da obezbijedi sigurnost odravanja energetske opreme bez kvaraova
i povoljnu ekonominost pri:
stvaranju pjene i taloga na povrinama prenosnika toplote
stvaranju taloga u opremi i cjevovodima
pojavu korozije na unutranjim povrinama hemijske i toplotno-energetske
opreme
pojavu naslaga u protonom dijelu turbine
Obezbjeivanje optimalnog vodeno-hemijskog reima na bloku nadkritinih
parametara moe se ostvariti pri sledeim uslovima:
visok kvalitet dodatne (demi) vode za dopunu gubitaka u bloku
efikasan rad pstrojenja za preiavanje kodenzata (PPK)
optimalan rad amonijano-hidrazinske stanice
obezbijeena vazduna i vodena hermetinost kodenzatnog trakta bloka
pravovremeno izvoenje hemijskog ispiranja bloka u pogonu
obezbjeenje sigurne hemijske kontrole
konzervacija opreme pri zastojima, planiranim ili u sluaju remonta.
Da bi se sve nabrojano postiglo, neophodno je dozirati odreene hemikalije:
za uklanjanje kiseonine i ugljen-kiseonine krozije opreme i cjevovoda
parovodnog trakta bloka, poslije termike dearacije mora se provoditi i
hemijska dearacija i vezivanje slobodne ugljene kiseline. To se postie
doziranjem hidrazina (N2H4) i amonijaka (NH3)
hidrazin ima zadatak da vee slobodni kiseonik i tako onemogui tok
kiseonine korozije.
Eventualni viak hidrazina se u kotlu razlae na amonijak i neutralni azot.
477
dozirani i stvoreni amonijak ima zadatak da regulie zadanu pH vrijednost i

vee slobodnu ugljenu kiselinu te tako titi opremu od korozije. Amonijak je
sledea baza te se raznosi po cijelom parnom traktu vezujui preostalu
slobodnu ugljenu kiselinu pri emu nastaju soli ili amonijum kiseli karbonat
ili amonijum karbonat.
Prema nomativima isporuioca kotla u TE je nophodno odravati kvalitet
napojne vode sa sledeim parametrima:
Fe < 10g/l
SiO2 < 10g/l
Ukupna tvrdoa = 0,00nj
Cu < 5 g/l
Na < 5 g/l
Provodljivost < 0,2 S/cm
pH vrijednost 9,1 0,1
NH3 < 500 g/l
N2H4 20 60 g/l
Ipak, ma koliko se savjesno obavljao vodeno-hemijski reim bloka korozija je
neminovna u nekom obimu. U literaturi se naglaava da su korozione naslage na
grejnim povrinama kotla po sastavu razliite u zavisnosti od zone termikih uticaja,
to je prikazano u tabeli 1.
Tabela 1. Hemijski sastav naslaga u kotlu sa nadkritinim parametrima i amonijano-

hidrazinskom pripremom napojne vode[1]
Hemijski sastav naslage Termike zone kotla
(%)
Fe2O3 34 89 86 78 55 95
siO2+Al2O3+Ca+Ni+Cr 9 3 4 4 5 5
CuO 5 2 2 3 6 -
ZnO 12 6 8 15 34 -
5 TEHNOLOKA EMA TKT I FAZE PROCESA

Elektrohemijska korozija je proces zasnovan na razlici potencijala dva razliita
metala ili dva dijela metala. Prema mehanizmu elektrohemijske korozije oksidacija
metala tee na jednom mjestu njegove povrine, a proces redukcije na drugom mjestu
njegove povrine. Najee je rije o heterogeno-elektrohemijskoj koroziji ak i ako se
radi o hemijski potpuno jednorodnom metalu. Naime, kod hemijski potpuno
jednorodnog metala, razni dijelovi njegove povrine nisu potpuno u fizikom pogledu
jednorodni (npr. razliit poloaj kristala u reetki) te raspolau razliitom energijom to
se odraava na kinetiku elektrohemijskih reakcija koje se odigravaju na povrini
metala. Ako metal sadri i druge ukljuke tada naroito mnogo odstupa od
jednorodnosti jer se na njegovoj povrini nalaze razdvojivi dijelovi raznih fizikih i
hemijskih osobina.
U praksi odigravanje elektrohemijske korozije je okarakterisano lokalizacijom
anodnog i katodnog procesa na razliitim dijelovima povrine met ala to prouzrokuje
neravnomjerno ili mjestimino koroziono razaranje metala.
Obje korozije se mogu predstaviti jednostavnim hemijskim jednainama:
anodna: Fe Fe+2+2e
(1)
478
Za odvijanje reakcije je bitna voda koja daje jone OH
H2O H+ + OH (2)
katodna: Fe+2 + OH Fe(OH)2 (3)

Nastali fero hidroksid [Fe(OH) 2] rapidno se oksidie u prisustvu kiseonika u
feri hidroksid [Fe(OH)3]
4Fe(OH)2 + O2 + 2H2O 4Fe(OH)3 (4)

Iz feri hidroksida se izdvajanjem vode fomiraju korozioni proizvodi:
2Fe(OH)3 Fe2O3 +3 H2O (5)
Fe(OH)3 FeOOH + H2O (6)

Uporedo sa primarnim procesima pri elektrohemijskoj koroziji metala, mogu
tei i sekundarni procesi pri kojima primarni proizvodi korozije reaguju meusobno ili
sa elektrolitom i gasovima rastvorenim u njemu uz obrazovanje opne od teko
rastvorljivih jedinjenja na povrini metala, kao to su Fe3O4 ili Fe8O11.
Ova opna od sekundarnih teko rastvorljivih proizvoda korozije metala
posjeduje zatitna svojstva i ini metal hemijski postojanim. Prema nekim teorijama
pasivnost opne zasniva se na prisustvu vezanog O2 na povrini metala. Tanka opna sa
vrlo loom jonskom provodljivou usporava proces anodnog rastvaranja metala.
Zatitna opna je obino nevidljiva, a produkat je uzajamnog dejstva metala i
oksidacionih sredstava. Pasivizacija metala se obavlja oksidacionim sredstvaima kao
to su O2; K2CrO4 ; NaNO3 ; NaNO2 itd.
U TE Ugljevik sa nadkritinim parametrima vodene pare se kao mjera zatite
cijevnih povrina sa vodene strane koristi hidrazin 20-60g/l to je doprinos
homogenom nastajanju zatitnog magnetnog sloja. Dugogodinji rad postrojenja ipak
izaziva neravnomjerno formiranje magnetnog sloja.
Zbog toga je u ovakvim sluajevima neophodno ili klasino hemijsko ienje ili
termokiseonini tretman (TKT).
Tehnologija TKT obuhvata dvije faze:
Mehaniko razaranje faznih slojeva i njihovu evakuaciju iz trakta dejstvom
struje vode ili pare.
Obrazovanje novih oksidnih slojeva gvoa.
Koeficijent linearnog irenja oksida gvoa i samog gvoa se razlikuje za 1,5
puta, a tvrdoa hematita (Fe2O3) je dva puta vea od tvrdoe ugljeninog elika.
Naponi smicanja koji djeluju na graninoj povrini metal-oksid izazivaju pomjeranje
oksida nastalih tokom TKT u odnosu na stare okside i metal, to za posledicu ima
obrazovanje mikropukotina. Razaranje starih oksida deava se pri malom naponu a
kao rezultat adsorpcije kiseonika sniava se povrinska energija zida mikropukotine, te
je za poveanje pukotine potrebno brzo priticanje kiseonika u vrh pukotine.
Adsorpciono snienje vrstoe povrinskog sloja u odreenim granicama moe
se regulisati izmjenom temperature i brzine medijuma , kocentracije kiseonika u traktu i
vremena dejstva na objekat. Sa poveanjem temperature i trajanja dejstva poroznost
oksidnog sloja se smanjuje i moe biti dovedena do nule. Takav vrst sloj uva
povrinu od korozije na dui period (godinu i vie), s toga je preporuka da se TKT
ponavlja u intervalima od 5-7 godina.
479
Postupak TKT-a
Temokiseonini tretman parnog kotla se izvodi poslije zavrenih pripremnih
radova pri potpali kotla na mazut sa optereenjem 30%-
Tretman se izvodi etapno:

Uvodi se O2 u vodenu stranu ZVP-a preko pripremljenog sistema, uz
prisustvo vode u zagrija visokog pritiska(ZVP) sa P = 1,52 bar na P = 150
bar.
Uspostavljanje cirkulacije napojne vode do vodenog zagrijaa(VZ) sa
elektronapojnom pumpom(ENP).
Potpala kotla u skladu sa instrukcijom i podizanje temperature pare do VZ -a
od 270C.
Ubacivanje kiseonika u napojnu vodu iz ZVP-a manipulacijom ventila 140,
141 i 142 i bajpasima i to na sledei nain:Podii trokraki ventil ZVP-a u
skladu sa uputstvom i polako podii pritisak u vodenom dijelu ZVP-a na 300
bara.
Protok kroz ZVP-a se postie sa otvorenim 140, otvorenim bajpasom 141 i
malo pritvorenim 142 ime poinje i proces doziranja O 2 u napojnu vodu.
U toku doziranja O2 za kotao, bajpas 141 treba da bude hladan.
Nakon zavretka procesa doziranja napojne vode obogaene sa O 2, bajpas
141 treba da bude progrijan ime je proces doziranja O 2 zavren, a samim tim se
uspostavlja normalna ema napojne vode kroz zagrija visokog pritiska (ZVP)
Dodavanje O2 u napojnu vodu vri se u kocentraciji 0,5 g/kg manipulacijom bajpasa
141 i sa ventilom 140.
U toku doziranja O2 u napojnu vodu neophodno je :
Pratiti analizu uzoraka T21, T64 i T43 svakih 30 minuta i to O 2-Fe i PH
vrijednost.
Svakih 10 minuta otvarati rune ventile na drenaama kotla do VZ-a
Neprekidno se voda sa D2 i D3 uz E20 preko ventila 249 baca na otpadne
vode.
Ne dozvoliti bilo kakvu mogunost dodira E20 i paru isputati u atmosferu.
Veza 16m 3 u kodenzatoru mora biti zatvorena.
Ciklino mijenjati temperaturu ispred VZ-a 27030C.
Poslije stabilizacije Fe u svjeoj pari na nivou 200 g/kg vri se isputanje
pare u pregrijaki trakt i nastavlja ulazak bloka u pogon.
U sluaju proputanja D4 i VZ-ova neophodno je kodenzat bacati u
cirkulacioni sistem na KPI, a usis vodenih pumpi obezbijediti preko linije
havarne dobave.
5.1 Ugradnja etalon cijevi

Neposredno prije poetka TKT ugraene su etalon cijevi na svim ogrevnim
povrinama koje se tretiraju. Nakon provedenog tretmana u narednom zastoju bloka
isjeen je etalon +300mm cijevi i poznatim metodama ispitati efekte TKT.
Izvoenje TKT-a prati se termikom i hemijskom kontrolom:
Termika kontrola parovodnog trakta vri se prema instrukciji za putanje
bloka.
Hemijska kontrola obuhvata praenje analizom odreenih parametara na
uzorcima vode uzetih svako pola sata. Sve analize su raene u labaratoriji
TE.
480
Tabela 2 Predloene metode hemijske kontrole

Parametar Predloeni metod
pH vrijednost Elektrohemijski pH metrom
gvoe -Optika metoda (za manje kocentracije-poetak rada TKT)
-Kompleksometrijski uz indikator sulfosalicilnu kiselinu
kiseonik Jodometrijski
zatitno svojstvo oksidnog sloja Nanoenjem reagensa
Uputstvo za izvoenje predloenih metoda hemijske kontrole:

I Analiza gvoa (kompleksometrijski)
Potrebni eagensi:
rastvor kompleksona, K-III (0,05 mol/l)
indikator sulfosalicilna kiselina
HCl 1:1
Indikator papir (mjerno podruje 1-5)
Izvoenje analize
odmjeriti 100 ml uzorka
dodavati HCl dok pH vrijednost ne bude 1,8-2,2 (kontrola sa indikator
papirom)
dodati 2 ml sulfosalicilne kiseline
titrisati sa rastvorom kompleksona do promjene boje u zelenkastu
mg/l Fe = ml K-III x 0,05 x 5,6 (7)
II Analiza kiseonika
Potreban pribor:
erlenmajerice
bireta
staklena boca po Vinkleru
Potrebni reagensi:
40% rastvor MnCl 2
alkalni rastvor kalijum jodida (700g KOH +135g KJ +3g Na azida) rastvoriti
i dopuniti do 1000ml sa demi vodom (normalni sud).
kocentrovana HCl
1% rastvor skroba
H3PO4 (1:5)
rastvor natrijum tiosulfata (Na2S2O3 , 0,1N)
Izvoenje analize:
napuniti Vinkler bocu sa uzorkom vodei rauna da ne ostane mjehur
vazduha
u uzorak ispod povrine tenosti dodati 0,5 ml H3PO4
u uzorak ispod povrine tenosti pipetom dodati 1ml rastvora M nCl2 i 1 ml
alkalnog rastvora KJ. Bocu zatvoriti i paljivo okrenuti u krug. Pustiti da se
talog izdvoji (oko 5 minuta) i ostaviti da se slegne.
talog mrke boje rastvoriti dodatkom 3ml HCl i titrisati sa rastvorom
natrijumsulfata uz indikator skrob do pojave plave boje.
mg/l (O2) = (ml0,1 N Na-tiosulfata x 800/zapremina Vinkler boce b

b=ukupna zapremina doatnih regenasa u Vinklerovu bocu
481
Napomena: Poto se oekuje visoka kocentracija O 2 treba pripremiti

kocentrovanije radne rastvore ili dodavati vie ml reagenasa. Strogo voditi rauna o
titraciji sa skrobom (izbjei indikatorsku greku dodavanjem skroba nakon pojave slabo
ukaste boje pri titraciji).
III Provjera zatitnog svojstva oksidnog sloja
Potrebni reagensi:
rastvor plavog kamena CuSO 4x5H2O (0,5M)
rastvor NaCl 10%
sumpora kiselina 0,1M
filter papir natopljen parafinom
Tok analize:
napraviti smjesu od 20ml plavog kamena + 10 ml rastvora NaCl + 2ml
sumporne kiseline
filter papir natopiti parafiom, krug prenika oko 1 cm, pa u sredini napraviti
otvor prenika 4-5 mm
uzorak malo zagrijati
filter papir postaviti na povrinu koju ispitujemo, lagano pritiskati noem ili
patlom da se prilijepi za povrinu
kapaljkom nanijeti kap smjese reagensa kroz otvor na papiru pazei da se
reagens ne razlije po uzorku
pratiti promjenu boje kapljice jer to pokazuje pojavu korozije
boja iste kapi je plava, a mijenja se u crvenu, utu ili uto-zelenu
pratiti vrijeme od momenta nanoenja kapljice do potpune promjene boje
kapljice.
Skala izdrljivosti zatitnog sloja:
promena boje kapi ne prije 5 minuta -visoka izdrljivost
promjena boje kapi u toku 2 5 minuta -normala izdrljivost
promjena boje kapi u trajanju 1 2 minute -sniena izdrljivost
promjena boje kapi za < od 1 minute -niska izdrljvost
U periodu kapitalnog remonta postrojenja TE 2010 godine, pored pomenutog
parokiseoninog tretmana unutranjih zidova cijevnog sistema raeno je i pjeskarenje
ekranskih cijevi loita kotla, kao i zamjena ekonomajzera. Koji su pojedinani
procentualni efekti svih ovih zahvata teko je utvrditi, ali je pouzdanost i efikasnost
bloka nakon remonta najbolja od njegovog putanja u rad 1985.godine. U prilogu su
tabele koje obuhvataju period od 2004.godine i iz kojih je vidljivo kako se smanjio broj
zastoja zbog ienja i pucanja cijevi, a istovremeno poveao broj izraenih sati i
snaga na pragu (tabela.
U periodu od 2004. do 2010. godine maksimalno zabileena godinja
proizvodnja na pragu ZP RiTE Uglevik iznosila je 1,559.0 GWh (1,687.2 GWh na
generatoru), dok je najvea prosjena snaga na pragu iznosila 230.5 MW (249.5 MW
na generatoru). U istom periodu zabileeno je maksimalnih 6,762.32 sati rada na
mrei godinje.
Zastoji do kojih je dolazilo u radu Termoelektrane u periodu od 2006. do 2010.
godine esto su bili izazvani neophodnim ienjem kotla, do kojeg je dolazilo od 6 do
13 puta godinje, dok je do pucanja cijevi na ekonomajzeru dolazilo od 3 do 8 puta
godinje. Posmatrajui oba navedena razloga zajedno, do zastoja u radu je dolazilo od
10 do 17 puta godinje (tabela 3).
482
Tabela 3 Zastoji zbog mehanikog ienja kotla i pucanja cijevi

Ukupni zastoji zbog
Zastoji zbog mehanikog Zastoji zbog pucanja
Godina prvog i/ili drugog razloga
ienja kotla cijevi ekonomajzera
*
2006 13 8 17
2007 8 5 12
2008 8 3 10
2009 6 8 13
2010 3 1 4
2011 3 0 3
2012 2 0 2
2013 4 1 5
Ako izuzmemo 2010. godinu, koja zbog izvrenog kapitalnog remonta u

trajanju od 100 dana nije pogodna za poreenje (naroito kada je rije o ukupnom
vremenu rada bloka), moemo da uoimo znaajno poveanje vremena provedenog
na mrei u 2011. i 2012. godini u odnosu na godine koje su prethodile ovom remontu
(tabela 4).
Tabela 4. Vrijeme rada bloka i stepen iskoritenja radnog vremena
Stepen iskoritenja
Godina Vrijeme rada bloka (h)
raspoloivog vremena
2004 5.050,22 57,49%
2005 4.399,12 50,22%
2006 6.056,47 69,14%
2007 6.456,82 73,71%
2008 6.730,62 76,62%
2009 6.762,32 77,20%
2010 5.675,42 64,79%
2011 7.209,38 82,30%
2012 7.433,93 84,63%
2013 6.617,20 75,54%
Do smanjenja vremena rada bloka, odnosno stepena iskoritenja raspoloivog

vremena u 2013. godini dolo je iz razloga koji nisu vezani za radove koji su vreni na
kotlu.
U tabeli 5. prikazano je kretanje prosjeno ostvarene snage na generatoru,
odnosno na pragu Termoelektrane u periodu prije i poslije kapitalnog remonta.
Evidentno je da prije 2010. godine prosjena snaga na generatoru nije prelazila 250
MW, dok je prosjena snaga na pragu tek neznatno prelazila granicu od 230 MW.
Nakon rekonstrukcije kotla, ve 2011. godine, dolo je do poveanja prosjene snage
za oko 10% u oba sluaja i od tada se ona konstantno kree iznad prethodno
ostvarenog maksimuma.
Tabela 5. Prosjena snaga na generatoru i na pragu termoelektrane

Godina Prosjena snaga na Prosjena snaga na pragu
generatoru (MW) (MW)
2004 223,7 202,9
2005 237,1 214,7
2006 229,9 208,0
2007 245,1 223,3
2008 246,8 227,5
2009 249,5 230,5
483
Tabela 5. Prosjena snaga na generatoru i na pragu termoelektrane - nastavak

Godina Prosjena snaga na Prosjena snaga na pragu
generatoru (MW) (MW)
2010 250,8 231,8
2011 274,4 254,7
2012 266,7 247,1
2013 264,4 244,3
6 ZAKLJUAK
Veina pokazatelja rada Termoelektrane u periodu nakon kapitalnog remonta i
tretmana (2011-2013.) daleko je bolja u odnosu na raniji period (2004-2007.),. ak
tavie, proizvodnja elektrine energije na generatoru i pragu, snaga na generatoru i
pragu, kao i broj radnih asova godinje su istorijski maksimum dostigli upravo u
godinama nakon kapitalnog remonta (2011. i 2012.).
Ve 2011. godine, dolo je do poveanja prosjene snage za oko 10% i na
bloku i na pragu Termoelektrane, i od tada se ona konstantno kree iznad maksimalne
vrijednosti ostvarene u godinama neposredno prije kapitalnog remonta i obavljenog
tretmana.
Nakon kapitalnog remonta dolo je i do znaajnog poveanja vremena rada bloka na
godinjem nivou, odnosno do poveanja stepena iskoritenja ukupno raspoloivog
vremena u toku godine. U 2012. godini prisustvo na mrei je poveano za oko 10% u
odnosu na godine prije remonta.
Direktan rezultat uraenog kapitalnog remonta jeste i smanjenje broja zastoja
zbog mehanikog ienja kotla, odnosno broja zastoja zbog pucanja cijevi na
ekonomajzeru. U periodu koji je neposredno prethodio remontu, broj zastoja izazvanih
prekidima usljed mehanikog ienja kotla se kretao od minimalnih 6 do maksimalnih
13 (2006. godine), da bi u godinama nakon remonta prosjeno bila 3 zastoja po ovom
osnovu.
Vanu ulogu za pouzdanost, raspoloivost kao i dostizanje projektovanih
parametara termoenergetskog bloka igra istoa ogrijevnih povrina kotla. ienje
spoljanje strane grejnih povrina je mnogo jednostavnije jer se radi o m ehanikom
ienju. Unutranje ienje je kompleksno i zahtijeva posebnu panju i strunost
kako bi se izbjegle sve neeljene posledice ovog tretmana. No bez obzira na to bilo bi
poeljno ovo ienje vriti u periodima od pet do sedam godina, dok je mehaniko
ienje obavezno u vrijeme godinjeg remonta, a po potrebi i ee. Efekti ovih
tretmana prikazani su u tabelama (3;4 i 5) i oni su samo dokaz ovoj tvrdnji.
LITERATURA
[1] .., (1985). - , .
[2] Grkovi, V., Jovanovi, A., (2010). Termoeneretska postrojenja, Novi Sad.
[3] Guli,M., Brki,Lj., Perunovi,P., (1986) Parni kotlovi, Mainski fakultet Beograd.
[4] T -64-1 ""
- 2002.
[5] To
-64 "" 2006.
[6] , 18.11.2010.
[7] 1985-2013.
MWh;
484
_____________________________________________________________________________
ENERGETSKA ANALIZA ZA PODRUJE GRADA DOBOJA

Veselin Blagojevi1, Milan Despotovi2, dr Ranko Boikovi3, Sinia Boikovi4
Rezime: Koritenje energije je jedan od kljunih faktora za odravanje kvaliteta ivota i

rada. Razvoj tehnologije i tehnike sa sobom je donio poveanje potronje energije i
energenata. Kao posledicu smo dobili poveanje emisije tetnih gasova, globalno
zagrijavanje i zagaenje prirode.
U skladu sa tim je neophodno ispitati energetske potrebe korisnika i stvarno koritenje
energije te na osnovu toga razviti mogunosti za primjenu mjera i metoda energetske
efikasnosti, a sve u cilju poveanja kvaliteta ivotnih i radnih uslova. U ovome radu
emo koristiti energetski monitoring za analizu koritenja energije i energenata i
primjenu obnovljivih izvora energije za podruje Grada Doboja i Saobraajnog fakulteta
u Doboju kao jednog od korisnika iz grupe javnih potroaa.
Kljune rijei: Energetska efikasnost, energetski monitoring, obnovljivi izvori energije,

upravljanja kvalitetom.
ENERGY ANALYSIS OF DOBOJ MUNICIPALITY

Abstract: The use of energy is one of the key factors for maintaining quality of life and
work. The development of technology and technical devices with them has brought an
increase in energy consumption and energy. As a result, we get an increase in
greenhouse gas emissions, global warming and environmental destruction.
Accordingly it is necessary to examine the energy needs of the user and the actual use
of energy and on this basis to develop opportunities for the application of the measures
and methods of energy efficiency, with the aim of increasing the quality of living and
working conditions. In this paper we use energy monitoring to analyze energy use and
fuel and use of renewable energy sources for the City of Doboj and Faculty of Traffic
Engineering in Doboj as one of the user groups from public consumers.
Key words: Energy efficiency, energy monitoring, renewable energy, quality

management.
1
MSc Veselin Blagojevi, Fakultet inenjerskih nauka,Kragujevac,Srbija, e-mail:veso.doboj@gmail.com (CA)
2
dr Milan Despotovi, Fakultet inenjerskih nauka,Kragujevac,Srbija , e-mail:mdespotovic@kg.ac.rs
3
dr Ranko Boikovi,Saobraajni fakultet ,Doboj, BiH, e-mail: bozickovicranko@gmail.com
4
Mr Sinia Boikovi,Saobraajni fakultet ,Doboj, BiH, e-mail: bsinisaa@yahoo.com
485
Veselin Blagojevi, Milan Despotovi, Ranko Boikovi, Sinia Boikovi
1 UVOD
Nekontrolisano koritenje energetskih resursa u cilju dobijanja energi je je
dovelo do velikih posledica kao to su:globalno zagrijavanje, zagaenje, unitavanje
flore i faune, stvaranje okruenja nepodobnih za normalan ivot itd. Razvoj tehnologije
je donio sa sobom velike probleme. Veoma teko ili ak je nemogue ivotnu sredinu
vratiti u stanje kakvo je bilo u doba prije hiper razvoja. U skladu sa tim se namee
potreba za razvoj novih metoda i mjera koje bi trebale zaustaviti taj negativni trend
odnosa prema prirodi i ivim biima. Primjena mjera energetske efikasnosti za
smanjenje potronje energije i primjena obnovljivih izvora energije su jedni od
najbitnijih u ovom trenutku. Na samom poetku je neophodno obaviti niz istraivanja
kako bi se utvrdilo postojee energetsko stanje. Sprovoenje energetskog monitoringa
se moe obavljati manuelno ili automatski pomou sakupljaa podataka, softvera za
obradu i baza za skladitenje podataka. Da bi se efikasno mogao koristiti automatski
sistem monitoringa neophodno je za programiranje sistema manuelno prikupiti i
obraditi ulazne podatke. Ovaj rad e se upravo baviti analizom prikupljenih podataka
za koritenje energije na podruju grada Doboja, te e se kao pojedinani potroa u
okviru sistema analizirati koritenje energije na Saobraajnom fakultetu u Doboju. Kroz
rad emo prikazati podatke o ukupnoj potrebnoj energiji za podruje grada Doboja, kao
i podatke koji se tiu koritenja energije u privatnom i javnom sektoru. Takoe e biti
obraeni podaci o energetskim potrebama u urbanom i ruralnom dijelu grada.
Detaljnija analiza e se odnositi na koritenje energije na Saobraajnom fakultetu u
Doboju koja e obuhvatiti analizu potroene elektrine energije i daljinskog grijanja u
odnosu na broj korisnika u objektu, povrinu objekta i spoljnu temperaturu. Finalna
analiza e pokazati koritenje elektrine i toplotne energije za podruje grada Doboja,
kao i potronju u odnosu na povrinu i broj korisnika. Analiza je raena za 2013-u
godinu, jer su dostupni podaci u kompletu za taj period, dok je za period 2014-2015
godinu dio podataka nedostupan usled poplava koje su zadesile taj grad kao i
izvjetaja koji do danas nisu na raspolaganju.
2 ENERGETSKA ANALIZA ZA PODRUJE GRADA DOBOJA
2.1 Analiza koritenja energije i energenata

Podruje grada Doboja se nalazi na sjevernom dijelu Bosne i Hercegovine, na
obroncima planina Ozren, Trebava i Krnjin. Smjeten je uz korito rijeka Bosne, Spree
i Usore na povrini oko 653 km, koje je podijeljeno u 67 mjesnih zajednica. Grad
Doboj je kroz istoriju bio vana raskrsnica drumskog i eljeznikog saobraaja, a
danas takoe predstavlja jedno od kljunih i najrazvijenijih komunikacijskih raskra u
Bosni i Hercegovini. Grad Doboj je znaajan regionalni centar za podruje koje
obuhvata optine: Derventa, Modria, Vukosavlje, Tesli, Brod, Petrovo, amac i
Stanari u Republici Srpskoj. Prema preliminarnim rezultatima popisa stanovnitva,
domainstava i stanova u BiH iz 2013. godine na podruju grada Doboja ivi 69 343
stanovnika (bez novoosnovane optine Stanari), to ini 5,23% od ukupnog broja
stanovnika Republike Srpske odnosno 1,83% od ukupnog broja stanovnika BiH. Od
toga 42 356 stanovnika ili 61,08% ivi u ruralnom a 26 987 stanovnika ili 38,92% ivi u
urbanom podruju. Takoe, prema preliminarnim rezultatima popisa stanovnitva,
domainstava i stanova u BiH iz 2013. godine, ukupan broj domainstava u gradu
Doboju iznosi 23.264, a broj stanova je 32 257 [1].
Prosjena temperatura u 2013 godini za podruje grada Doboja je iznosila 12 0C [2].
486
Energetska analiza za podruje grada Doboja
2.1.1 Analiza koritenja energije za zagrijavanje

Kako bi se utvrdila potronja energenata i energije za zagrijavanje objekata,
potrebno je analizirati zastupljenost naina grijanja prostora kao to je daljnsko
grijanje, centralno grijanje ili individualne pei. Prema obraenim podacima iz anketa
domainstava, u urbanom dijelu grada 66,38% domainstava se zagrijava koristei
daljinsko grijanje iz Gradske toplane Doboj, a 33,62% domainstava se individualno
zagrijava putem centralnog/etanog grijanja i sa individualnim peima. U urbanom
dijelu najvei broj domainstava energent za zagrijavanje objekata koriste drvo
(45,62%), kao i drvo i mrki ugalj zajedno (37,5%). U ruralnom dijelu grada ne postoji
mogunost spajanja objekata na daljinski sistem grijanja. U ovom dijelu 22,38%
objekata se zagrijavaju centralnim/etanim grijanjem a 77,62% objekata se zagrijava
putem induvidualnih pei. Najvei broj domainstava u ruralnom dijelu kao energent
za zagrijavanje objekata koriste drvo (67,73%), kao i kombinaciju drvo i mrki ugalj
zajedno (24,27%). U daljinskom sistemu grijanja koji vodi Gradska toplana Doboj kao
energent se koristi lignit iz rudnika Stanari. Prosjena kvadratura prostora u
domainstvima koja se zagrijavaju na daljinski sistem grijanja je 55,37 m, a prosjena
potronja energije je 160 kWh/m. Ukupna potronja energije koja se iz Gradske
toplane Doboj utroi za zagrijavanje domainstava iznosi 55 931,7 MWh odnosno
55,93 GWh. Prema proraunskoj tablici cijena isporuenog kWh toplotne energije
kota 0,1124 KM. U gradu Doboju postoje dvije nezavisne vrelovodne mree, jedna
duine 9 km, a druga duine 4 km. Cjevovod je u prolim vremenima polagan kanalski,
dok se u zadnje vrijeme polau predizolirane cijevi. Vrelovodna mrea je u relativno
dobrom stanju. Mjerna mjesta za mjerenje potroene toplinske energije se iskljuiv o
nalaze u toplinskim stanicama [3].
Na podruju grada Doboja u urbanom dijelu kao energent za zagrijavanje se
koristi i elektrina energija. Analizom rezultata iz ankete utvreno je da se u urbanom
dijelu za zagrijavanje domainstava troi samo 0,104 GWh. Na osnovu toga, prosjena
godinja potronja elektrine energije po domainstvu za grijanje u urbanom dijelu
iznosi 0,00131 GWh (1 310,00 kWh).
Tabela 1. Struktura potronje energenata u GWh za zagrijavanje objekata

Daljinsko Ogrevno Mrki Ostali
Lignit Pelet Total
Energent grijanje drvo ugalj energenti
(GWh) (GWh) (GWh)
(GWh) (GWh) (GWh) (GWh)
Urbani dio 55,93 26,69 3,88 32,30 4,48 0,32 123,6

Ruralni
0,00 223,19 7,22 77,59 2,74 2,57 313,31
dio
Ukupno: 55,93 249,88 11,11 109,89 7,22 2,89 436,91
2.1.2 Analiza koritenja elektrine energije

Ukupn ptrnj lktrin nrgi na teritoriji Republike Srpske u 2013
gdini stvrn u kliini d 3 819,98 GWh i z 0,94% v d stvrn u 2012
gdini, z 0,72 % d rblnsirn, in ptrnj kupc k snbdivu D
d 3 693,72 GWh (brut distributivn ptrnj 3 567,50 GWh + ptrnj dirktnih
kupc n 110 kV d 126,21 GWh), vlstit ptrnj lktrn u sstvu H RS -
d 13,27 GWh i gubici prns d 113,00 GWh. Brut distributivn ptrnj u 2013.
gdini, bz ptrnj dirktnih kupc n 110 kV, iznsil 3 567,50 GWh lktrin
nrgi, t z 0,92% vi u dnsu n rblnsirnu ptrnju, z 0,46% v
487
d stvrn u 2012 gdini. ZP lktr-Db 580,09 GWh ili 3,20% mnj d

rblns i z 0,18% vi d stvrnj u 2012 gdini [4].
ZP lktr-Db . d. Db je nadlean za distribuciju energije za devet
optina. Na podruju grada Doboja u domainstvima u urbanom i ruralnom dijelu
elektrina energija se koristi za rasvjetu i kuanske aparate kao to su ve maina,
maina za sue, elektrini poret, friider, klima ureaj, pumpa za vodu i dr., dok se u
poslijeratnom periodu usled nerazvijenosti privrede energija manje koristi u ovom
sektoru. Analizom rezultata iz ankete utvreno je da je potronja elektrine energije za
rasvjetu i kuanske aparate u urbanom dijelu 52,82 GWh a u ruralnom dijelu 78,16
GWh. Prosjena godinja potronja elektrine energije u domainstvima u urbanom
dijelu iznosi 0,0055 GWh (5.500 kWh) a u ruralnom dijelu 0,0056 GWh (5 600 kWh).
Bruto potronja elektrine energije za podruje koje pokriva ZP lktr-Db .d.
Db (9 optina) iznosi 16,26% od ukupne potronje u Republici Srpskoj. Dok
potronja elektrine energije za podruje Doboja ini oko 3,83% od ukupne potronje
elektrine energije u Republici Srpskoj. [1]
Rezultati pokazuju da Doboj ima manju potronju elektrine energije od 1,4% u
odnosu na procentualni broj stanovnika Republike Srpske. Prvi i grubi pokazatelji su
veoma pozitivni, stim da bi se za tanu analizu trebalo sprovesti jo nekoliko bitnih
istraivanja. Analizom rezultata utvreno je da je potronja elektrine energije za
rasvjetu i elektrine ureaje u javnim objektima 3,73 GWh.
Od ega 3,73 GWh elektrine energije, 1,66bGWh utroi JZU Bolnica "Sveti apostol
Luka", dok ostali objekti utroe 2,07 GWh elektrine energije. Uvidom u podatke o
potronji elektrine energije sistema javne rasvjete za referentnu 2013. godinu,
potronja elektrine energije je iznosila 1 811 911 kWh (1,812 GWh).
Prema dostavljenim podacima godinja potronje elektrine energije u 2013. godini u
sistemu vodosnabdijevanja je iznosila 1 718 698,0 kWh/god, odnosno 1,72 GWh.
2.1.3 Analiza koritenja elektrine energije iz obnovljivih izvora

Na podruju koje pokriva grad Doboj postoje predispozicije za iskoritenje
obnovljivih izvora energije, od ega je veoma malo iskoriteno. Analiza je obuhvatila
mogunost iskoritenja energije iz biomase, energije vjetra, suneve energije,
geotermalne energije, energije vode.
Potencijal za iskoritenje biomase na podruju grada Doboja je raznolik.
Trenutno se koriste ogrevno drvo i pelet kao energenti za zagrijavanje objekata. CO2
kod ogrevnog drveta i peleta je neutralan i smatra se da ne zagauje ivotnu sredinu.
Analizom podataka iz ankete utvreno je da ak 44% domainstava na prostoru grada
i 3,14% javnih objekata koriste ogrevno drvo kao energent. Takoe, 1,27%
domainstava i 0,89% javnih objekata na prostoru grada Doboja koriste pelet za
zagrijavanje. Analizom je takoe utvreno da poljoprivredno zemljite zastupljeno je sa
32 895 ha ili 50,38% od ukupne povrine, a na umsko zemljite otpada 19 932 ha ili
30,52% od ukupne povrine grada Doboja to daje veliki potencijal za plansko
iskoritenje.
Do sada postoji veoma malo istraivanja za mogunost iskoritenja energije
vjetra na podruju grada Doboja. S obzirom da karta vjetra za podruje Bosne i
Hercegovine nije dostupna, sa sigurnou ne moemo rei, ali moemo pretpostaviti
da se zbog geografskog poloaja grada ne oekuje znaajno iskoritenje energije
vjetra.
Potencijal iskoritenja solarne energije na podruju BiH i Srbije kree se od
1240 do 1800 kWh/m povrine solarnog kolektora. Podaci pokazuju da je prosjeno
trajanje insolacije 2071 sati godinje, odnosno oko 270 sunanih dana, a oko 70% se
488
stvara od aprila do septembra. Kada se uzmu u obzir prosjene vremenske prilike,

zagaenje atmosfere i vlaga, na ovim prostorima je stvarna prosjena energija
zraenja oko 3,5 kWh/m na dan. Ovo su vrijednosti koje pouzdano osiguravaju
masovno i ekonomino koritenje solarne energije [5]. Prosjena solarna dozraenost
na podruju grada Doboja iznosi oko 1250 kWh/m to pru znjne mogunosti
iskoritenj solrne energije n ovom podruju. Analizom rezultata ankete izvrene za
domainstva, na prostoru grada Doboja trenutno 113 domainstava u urbanom dijelu
i 61 domainstvo u ruralnom dijelu, posjeduje solarne kolektore za zagrijavanje vode
dok nije zabiljeen niti jedan objekat domainstva koji koriste f otonaponski system
[1,5].
Na podruju grada Doboja 2013 godine izvrena su geofizika istraivanja na
lokalitetima naselja evarlije i Boljani, u sklopu projekta zvanine inostrane razvojne
saradnje Republike eke sa Bosnom i Hercegovinom Upotreba obnovljive
geotermalne energije u gradu Doboju. Cilj ovih istraivanja je bio da se du trasa
istranih profila izvri konstantna-tomografska identifikacija stratigrafske i
strukturnotektonske grae kako dubljih zona stjenskog masiva tako i njihovih pliih,
odnosno podpovrinskih segmenata. Istraivanja su pokazala da postoje potencijali za
korienje geotermalne energije na navedenim lokacijama na prostoru grada Doboja.
Znjn hidroenergetski resurs n podruju grd Doboj predstvlj tok
rijeke Bosne, u njenom donjem toku. Rijek Bosn n podruju grada Doboja im
odlike rvnirskog tok s prosjenim protokom od 176 m/s i prosjenim pdom od
oko 0,8 m/km. Prem rspoloivim studijm te provedenim mjerenjim i nlizm,
n podruju grada Doboja mogu je izgrdnj 4 hidroelektrne, protono
pribrnskog tip, ukupne snge 50 MW i procjenjene proizvodnje oko 250 GWh. Ovo
su znjni hidroenergetski resursi.
Na osnovu prikupljenih podataka koji se tiu iskoritenja elektrine energije iz
obnovljivih izvora, moemo vidjeti da je ovaj potencijal na podruju Grada Doboja
veoma malo iskoriten. U tabeli 2. moemo vidjeti da se na podruju Grada Doboja
nalazi samo jedna MHE na rijeci Paklenici instalisane snage 240 kW, i jedna solarna
elektrana na SRC,,Dungla, instalisane snage 188,5 kW. U tabeli je takoe data
procijenjena godinja proizvodnja energije iz navedena dva izvora.
Tabela 2. Rezultati iskoritenja obnovljivih izvora energije na podruju Grada Doboja[6]

EEES (kWh)
Pnom (kW)
Rd. Godinja
Kncsinr bkt Instalisana
br. proizvodnja-
energija
procijenjena
ZP "lktr Db" .d. H "Pklnic" n rici
1 Db,Nikl Pi 77, Pklnici,Pklnic bb, 240 995700
74000, Db Db
DUNGL D... Db Slrn lktrn n SRC
2 Nikl Pi bb, 74 000 DUNGL Db 188,5 218066
Db
UKUPNO: 428,5 1213766
2.1.4 Analiza koritenja energije na Saobraajnom fakultetu u Doboju

U cilju smanjenja potronje energije u javnim ustanovama, izvrili smo analizu
koritenja energije na Saobraajnom fakultetu u Doboju koji pripada UIS. Cilj
istraivanja je analiza potronje energije u javnim objektima na osnovu uzorka. Kako bi
se mogla planirati i razvijati metodologija za poboljanje energetske efikasnosti,
neophodno je bilo uraditi osnovne analize. Analize obuhvataju: potronju el. energije i
489
daljinskog grijanja u odnosu na povrinu objekta, broj korisnika i prosjenu spoljnu

temperaturu. Saobraajni fakultet u Doboju je smjeten u dva odvojena objekta korisne
povrine 2877 m 2 . Na fakultetu je energija potrebna za 92 zaposlena i za oko 950
studenata. U Tabeli 3. su dati rezultati mjerenja za period 2013 godine.
Tabela 3 . Koritenje energije na Saobraajnom fakultetu u Doboju [7]

El.energija El.energija El.energija Daljinsko Energija
Brojilo 1 Brojilo 2 (kWh) grijanje ukupna t (0C)
2013
(kWh) (kWh) Ukupno (kWh) (kWh)
I 1792 2010 3802 39790,04 43592,04 3,0
II 1825 2206 4031 39790,04 43821,04 2,7
III 1840 2217 4057 39790,04 43847,04 6,2
IV 1653 2134 3787 19889,32 23676,32 12,9
V 1520 1966 3486 0,00 3486,00 16,3
VI 1958 1993 3951 0,00 3951,00 20,2
VII 2192 1585 3777 0,00 3777,00 22,2
VIII 1995 1210 3205 0,00 3205,00 22,5
IX 1808 1883 3691 0,00 3691,00 15,9
X 2058 2084 4142 32087,10 36229,10 13,0
XI 1556 1695 3251 39790,04 43041,04 7,6
XII 1967 1868 3835 39790,04 43625,04 1,6
Na dijagramima je oigledno vidljivo sihronizovano kretanje potronje kako

elektrine energije, tako i energije daljinskog grijanja. Srazmjerno poveanju i
smanjenju vanjske temperature, dolazi do smanjenja i poveanja potronje energije
Slika 1. Grafiki prikaz koritenja energije na Saobraajnom fakultetu u Doboju
Potronja energije po broju korisnika i korisnoj povrini moe da bude dobar

pokazatelj o racionalnoj iskoritenosti energije. Naredna tabela nam pokazuje rezultate
analize potronje elektrine energije i energije za daljinsko grijanje u odnosu na broj
korisnika i korisnu povrinu objekta. U tabeli su takoe date minimalne, maksimalne i
prosjene vrijednosti.
Tabela 4 . Potronja energije u odnosu na broj korisnika i korisnu povrinu
490
El.energija El.energija El.energija Daljinsko Energija

2013 Brojilo 1 Brojilo 2 (kWh) Grijanje Ukupna
(kWh) (kWh) Ukupno (kWh) (kWh)
Ukupno za godinu 22164 22851 45015 250926,60 295941,60
Minimalno 1520 1210 3205 0,00 3205,00
Maksimalno 2192 2217 4142 39790,04 43847,04
Prosjeno 1847 1904,25 3751,25 20910,55 24661,80
Po broju korisnika 21,27 21,93 3,08 240,81 1042,00
Po m2-povrine 7,70 7,94 15,65 87,22 102,86
2.2 Zavrna energetska analiza za grad Doboj

Zavrna analiza nam pokazuje da je u ruralnom dijelu potroeno 78,16 GWh
elektrine energije i 391,47 GWh toplotne energije. Potronja elektrine energije u
urbanom dijelu iznosi 52,82 GWh, dok je potronja energije za zagrijavanje 176,43
GWh. U urbanom dijelu potronja energije u javnim objektima u 2013 godini je iznosila
3,73 GWh, od ega je bolnica Sveti Apostol Luka utroila 1,66 GWh, dok su ostale
javne ustanove utroile 2,07 GWh elektrine energije. Mrea javne rasvjete je utroila
1,72 GWh energije, a Saobraajni fakultet 45015 kWh. Planirana proizvodnja
elektrine energije iz obnovljivih izvora za podruje Grada Doboja je 1 213 766 kWh
godinje. U nastavku emo vidjeti ukupnu potronju energije za grad Doboj, kao i
prosjenu potronju po broju korisnika i povrini objekata.
Tabela 5 . Ukupna potronja energije za podruje grada Doboja u odnosu na broj

korisnika i korisnu povrinu objekata
2013 El.Energija Grijanje Ukupno Po broju stanovnika Po povrini
(GWh) (GWh) (GWh) (kWh) kWh/m2
Urbani dio 52,82 176,43 229,25 8494,83 161,11
Ruralni dio 78,16 391,47 469,63 11087,69 316,17
Ukupno 130,98 567,9 698,88 10078,59 240,30
3 ZAKLJUAK
Na osnovu dobijenih rezultata istraivanja moemo zakljuiti da se na podruju
grada Doboja u cilju energetskih potreba koriste svi raspoloivi energenti. Energija se
u najveoj mjeri koristi za zagrijavanje objekata, te se u tu svrhu kao najzastupljeniji
energent koristi ugalj i drvo. Dobijeni rezultati pokazuju da je potronja energije prilino
velika, to grad kao potroa stavlja u gupu konvencionalnih energetskih razreda.
Istraivanje je osim statistikih podataka donijelo niz zapaanja koje u
narednom periodu mogu pomoi poboljanju energetske efikasnosti na podruju grada
Doboja, a samim tim dati doprinos smanjenju emisije tetnih gasova. Jedan od
osnovnih problema je nedostupnost podataka, to u samom startu svaku analizu
dovodi u pitanje ili poveava mogunost za proraunske greke. Samim tim se u
budunosti namee potreba za uvoenje sistema detaljnijeg prikupljanja podataka o
potronji energenata i energije, kao i formiranje jedinstvene baze za podruje cijelog
grada a i ire.Istraivane je pokazalo da je kvalitet daljinskog gijanja veoma dobar te
da su prekidi u isporuci u toku sezone zanemarivi. U toku istraivanja je primjeen
491
veliki broj objekata sa ugraenom toplotnom izolacijom i PVC stolarijom, to daje velike
mogunosti za utedu toplotne energije. Problem je meutim u nedostatku
termostatskih ventila na radijatorima i sistemima za automatsku ventilaciju prostorija
to je rezultovano velikim brojem otvorenih prozora u toku grejne sezone. Kod
potronje elektrine energije primjeen je veliki broj korisnika koji koriste klasine
arulje i ureaje sa velikom potronjom energije.
Razlozi za prethodno navedene sluajeve su mnogobrojni. Jedan od njih i
glavni je svakako loa ekonomska i socijalna situacija u zemlji, kao i visoka cijena
niskoenergetskih potroaa (termostata, LED rasvjete, kuanskih ureaja itd), dok
drugi i moda kljuni problem lei i nedovoljnoj osvjetenosti ili nemarnosti korisnika.
Npr.: problem koritenje toplotne energije i energije za rasvjetu u prostorijama koje se
ne koriste, te naplata isporuene toplotne energije se obraunava po m 2 a ne po
utroenoj energiji, to potroaima ne daje potrebu za savjesno i racionalno koritenje
energije. Sprovoenje energetskih pregleda objekata e u mnogome dati jasniju sliku o
potronji energije u objektima i stvarnim energetskim potrebama objekta, to e biti
jedan polazni podatak za detaljniju energetsku analizu, primjenu i sprovoenje mjera
energetske efikasnosti. Sprovedeno istraivanja nas dovodi do zakljuka da postoje
velike mogunosti za racionalnije iskoritenje energije i energenata, smanjenja emisije
tetnih gasova i obezbjeivanja kvalitetnijih ivotnih i radnih uislova.
LITERATURA
[1] Gradska uprava Grada Doboja,odjeljenje za stambeno-komunalne djelatnosti,2016
[2] Rpubliki zvd z sttistiku Rpublik Srpsk, Sttistiki gdinjk Rpublik
Srpsk, Banja Luka, November 2014
[3] Grani G, Zeljko M, Moranjki I, Martinez J.A., Olano M, Juri .(2008). Studija
energetskog sektora u BiH, BHP3-EES-TEPRP-Q-04/05 WB,p.p. 35-36.
[4] snvni pdci pslvnju vitg Hlding lktrprivrd RS z 2013.
gdinu, Mjeoviti holding lktr privreda Republike Srpske , Trebinje, jun 2014.
[5] Petrovi M, Boli A, Sjenar Z, Madeko M, Kalo M, Alomerovi A, Njego A, Rodi
A, Ademovi A, (2013),Studija izvodljivosti o mogunostima korienja solarne
energije za potrebe dobijanja toplotne i elektrine energije na podruju grada
Bijeljina i optine Bogati,Sarajevo ,p.p. 26-29.
[6] ZP "lktr Db" .d. Db, Tehniki podaci, 2016.
[7] UIS,Saobraajni fakultet u Doboju, Raunovodstveni podaci,2016.
492
_____________________________________________________________________________
DEFINING THE INPUT VALUES IN FIRST HOUSE OF QUALITY OF

QFD METHOD USING FUZZY AHP METHOD
Nikola Komatina1, Slavko Arsovski2, Danijela Tadi3, Aleksandar Aleksi 4
Abstract: In this paper a problem of realization of customer demands in the design of

cars B and C class was considered, the importance of using defined demands by using
Fuzzy AHP (Analytic Hierarchy Process) method was respectively assessed. After
defining characteristics, which should be provided in order to meet demands, the
strength of the relation between each demand and each characteristic was assessed.
Based on the relation between demands and characteristics, the first house of quality of
QFD (Quality Function Deployment) method was formed, which refers to which of the
products is considered better or worse, respecting each demand separately. In this way,
the first house of quality of QFD method was upgraded by the application of Fuzzy AHP
in decision making and assessing the importance of user demands.
Key words: B class car, C class car, customer demands, Fuzzy AHP, QFD
1 INTRODUCTION
The development of the automotive industry created a need for the production
of cars of different purposes and characteristics. For example, today there are sports
cars, military, ATVs, family cars, city cars, and many other types of cars, which may form
on the basis of various parameters and classification. The topic of this paper is to extend
and improve the first house of quality of method which was defined as quality planning
geared towards customer demands QFD (Quality Function Deployment) method [1]. The
method was applied for the first time in Mitsubishi Kobe in 1972., its greatest success
achieved in the company of Toyota. The basic goal of QFD method is the creation of a
new, or advancement of an existing product, service or process, according to the
demands of current and /or potential customers. QFD method was described with the
basic four stages, which are carried out through four matrices, the so-called "House of
quality" [2]. At the entrance to every house of quality (matrix) is always the question:
"What is required?", and the output is always the question of: "How to meet the
demands?". From the previous matrix question: "How to meet the demands?", in the
following matrix question is: "What is required?". So, every time the value of: "How to" in
1
B.Sc. Nikola Komatina, Faculty of engineering (CA), Kragujevac, Serbia, 30.12@fink.rs
2
Ph.D. Slavko Arsovski, Faculty of engineering, Kragujevac, Serbia, cqm@kg.ac.rs
3
Ph.D. Danijela Tadi, Faculty of engineering, Kragujevac, Serbia, galovic@kg.ac.rs
4
Ph.D. Aleksandar Aleksi, Faculty of engineering, Kragujevac, Serbia, aaleksic@kg.ac.rs
493
Nikola Komatina, Slavko Arsovski, Danijela Tadi, Aleksandar Aleksi
the following matrix value becomes: "What''. Using of QFD method was represented in
the design phase of products of different types and purposes. So, for example, customer
demands in terms of design of market doors [3] may be considered, or demands during
the construction of apartments [4]. Also, the papers that have implemented integrated
QFD and Fuzzy AHP method can be found in the literature, for executing the selection
of suppliers [5,6].
This paper discusses the problem of defining customer demands and defining
characteristics of customer demands of different classes of passenger cars (B and C
class). Based on the experience, knowledge and the results of good practice, the
management team of the company defines the demands that customers expect that the
company should meet in order for the passenger car to fully justify their expectations. In
general, the demands do not have the same relative importance. Assessment of the
relative importance is based on an estimate of the management team. The closer to the
human way of thinking is that the members of the management team use linguistic
expressions instead accurate numbers. Quantification of linguistic expressions can be
made using different mathematical theories, such as probability theory, fuzzy set theory,
the theory of rough sets and others. The theory of fuzzy sets allows the linguistic terms
quantitative performance in the best way possible [7]. Determining the relative
importance can be realized in different ways. In this paper, the fuzzy matrix of relative
importance of defined demands was explained. A large number of papers in which the
authors suggest the construction of fuzzy matrix of relative importance of different items
can be found in the literature. Thus, for example, can be used in the selection of suppliers
in companies with different activities [8,9], for determining the relative importance of the
criteria by which suppliers are assessed [10], for the determination of relative importance
of transport - storage system [11] and other.
Processing uncertainty in the constructed fuzzy matrices of comparing pairs of
the relative importance of different items can be done in different ways. One of the most
widely used methods is method of extended analysis which was developed in [12]. Many
authors used this method. [13] suggests that the method of extended analysis have
some limitations by comparison with the geometric mean method which has been
developed in [14]. The main deficiency can be defined as the inability to process well
enough the uncertainties which come from decision makers. Another limitation is the fact
that the non-use of this method is based on the assumption that the relative importance
of elements of the fuzzy matrix is being described using triangular fuzzy numbers
(TFNs). Using fuzzy numbers which have a different form of membership functions is not
possible.
The management team take the characteristics of the product under
consideration. It is necessary to determine the strength of the relation between the
demands and characteristics. In other words, the management team estimates how
much each of characteristics meets the defined demands. In conventional QFD method,
management team uses precise numbers for assessing the strength of mentioned
relations. In this paper it is considered, to be more accurate, if the management team is
using linguistic expressions which are modeled using the theory of fuzzy sets. Since
characteristics can be benefits and costs type, it is necessary to normalize the estimated
values of characteristics. In this paper, linear normalization procedure [15] is used. In
this way, values in the domains of used TFNs which describe the characteristic values
are mapped into the interval 01. The final result which is the output from the first house
of quality is the weighted normalized value of each treated characteristic.
Comparison of the considered types of products or companies under each
defined characteristic is based on comparison of TFNs. Comparison of TFNs is
performed by using method for comparison fuzzy numbers [16,17]. The degree of belief
494
Defining the input values in first house of quality of QFD method using Fuzzy AHP method
of how the characteristic of one type of product is better or worse than other types of
products, can be determined as well. The obtained result represents the input
information for quality managers. This way, they can make better valid decisions.
The paper was organised as followed: In the second section the problem
statement was shown, and within it is given the suggested algorithm of Fuzzy AHP
method. In section 3 an illustrated example is shown, and the discussions and
conclusions are presented in the section 4.
2 PROBLEM STATEMENT
Suppose that the demands for these products may formally present as a set I,
so that: I = {1,...,i,...,I}, where I is the total number of demands, and i, i = 1,...,I is index
of demand. The number of demands is defined by the management team (for example:
production manager, quality manager and marketing manager), based on knowledge,
experience and good practice results. In this paper, two types of cars were considered,
class B and class C, and based on that, demands are as follows: safety of drivers ( i=1),
manageability (i=2), interior (i=3), exterior (i=4), maintainability (i=5), type of drive (i=6),
conditions of purchase (i=7).
The management team defines a set of characteristics of a product in order to
meet customer demands. Characteristics of the product were presented formally as a
set K = {1,...,k,...,K}, where K is the total number of characteristics, and k, k = 1,...,K is
index of characteristic. The characteristics of the product under consideration are:
transparency (k=1), sensors (k=2), braking stability (k=3), the number of drive wheels
(k=4), control panel (k=5), line of vehicles (k=6), the environmental impact of fuel (k=7),
fuel consumption per 100 km (k=8), price of vehicle (k=9).
The relative importance of each pair of demands is described by using the five
linguistic expressions which was modeled as TFNs. These linguistic expressions are:
1 = (1, 1, 2.5), 2 = (1, 2, 3), 3 = (2, 3, 4), 4 = (3, 4, 5), 5 = (3.5, 5, 5). It can be
considered that the management team is making decisions based on consensus.
Domains of these TFNs belong to the set of real numbers in the interval 15. Value 1,
respectively 5 indicates that the demands i according to demand i has almost the equal,
or extreme greater relative importance, respectively.
Evaluation of bond strength between the defined demands and characteristics is
described using seven linguistic expressions: 1 = (1, 1, 2.5), 2 = (1, 2, 3), 3 = (1, 3, 5),
4 = (3, 5, 7), 5 = (5, 7, 9), 6 = (7, 8, 9), 7 = (7.5, 9, 9). These domains of TFNs are
defined on common measurement scale [18]. A value 1 or 9 indicate that the bond
strength between each pair (i, k) is extremely small or extremely large, respectively.
2.1 Suggested algorithm

The proposed Algorithm can be realized through the following steps:
Step 1. The fuzzy pair wise comparison matrix of the relative importance of
customer demands is stated.
[ ]IxI , i, i = 1,...,I ; i i
Step 2. Transformed the fuzzy pair wise comparison matrix into pair wise
comparison matrix by using defuzzification procedure.
[ ]IxI , i, i = 1,...,I ; i i
is defuzzyficated
495
Step 3. Check of consistency of constructed pair wise comparison matrix by

using enginee vector [18].
Step 4. By using extent analysis method [12], the weights vector of demands is
given.
= (1 , , , , )
Step 5. The normalized fuzzy decision matric is stated.
[ ]KxI

For benefit type: = ( , , ) ; For cost type: = ( , , )

= , = 1, . . . , I ; = min , = 1, . . . , I
Step 6. The weighted normalized decision matrix is constructed.
[ ]KxI
= , = 1, . . . , I ; = 1, . . . , K
Step 7. Calculate the weighted normalized value of each characteristic for each
considered product (1).
= 1 I=1
(1)
I
Step 8. Calculating the degree of belief (2) for that one of products is better than
other at the level of each characteristic.
>
( ) = , = 1, . . . , K (2)
3 ILLUSTRATED EXAMPLE
In this paper two types of passenger cars are discussed, car B class and C class
car. Assessment of the relative importance of each pair of demands is considered (Step
1 of the proposed Algorithm):
1 2 4 4 3 1 2
1 3 2 4 5 1
1
1 1 2 1
1
[ ] = 1
1 1 1
1
1 1 1
1
1
1
[ 1]
The elements of fuzzy pair wise comparison matrix are defuzzification by using
moment method [19]. The coefficient of consistency CI is determined by enginee vector
(Step 2 to Step 3 of the proposed Algorithm).
496
1 2 4 4 3 1 2
0,5 1 3 2 4 5 1
0,25 0,33 1 1 1 2 1
[ ] = 0,25 0,5 1 1 1 1 1
0,33 0,25 1 1 1 1 1
1 0,2 0,5 1 1 1 1
[ 0,5 1 1 1 1 1 1]
CI = 0,0277
By using procedure (Step 4 of the proposed Algorithm), the weights vector is
calculated:
W1 = 0.31; W2 = 0.33; W3 = 0.08; W4 = 0.1; W5 = 0.08; W6 = 0.01; W7 = 0.09
The fuzzy decision matrix and the normalized fuzzy decision matrix are given by
analogy Step 5 of the proposed Algorithm).
Table 1. The fuzzy decision matrix
k=1 k=2 k=3 k=4 k=5 k=6 k=7 k=8 k=9
i=1 4 /4 5 /3 6 /3 2 /2 1 //1 1 /1 1 /1 1 /1 1 /1
i=2 4 /3 6 /3 7 /4 4 /3 3 /2 1 /1 1 /1 1 /1 1 /1
i=3 4 /4 1 /1 1 /1 1 /1 1 /1 1 /1 1 /1 1 /1 1 /1
i=4 3 /2 2 /2 1 /1 3 /2 4 /3 5 /3 4 /3 2 /3 2 /3
i=5 1 /1 4 /2 3 /3 1 /1 3 /2 1 /1 4 /3 1 /1 5 /7
i=6 1 /1 5 /3 4 /3 3 /2 3 /2 1 /1 1 /1 1 /1 5 /3
i=7 3 /3 4 /3 4 /3 4 /3 3 /2 6 /3 5 /3 4 /3 6 /6
max max max max max max max min min
An example of the determination member of the normalized fuzzy decision matrix

(step 5):
For car class B: 11 = 4 = (0.33, 0.56, 0.78)
For car class C: 21 = 3 = (0.11, 0.33, 0.56)
An example of the determination member of the weighted normalized decision
matrix (step 6):
For car class B: 11 = (0.33, 0.56, 0.78) 0.31 = (0.102, 0.174, 0.242)
For car class C: 21 = (0.11, 0.33, 0.56) 0.33 = (0.036, 0.109, 0.185)
497
By using procedure (Step 7 and Step 8) of the proposed Algorithm, the weighted
normalized values of characteristics are calculated. Also, was calculated the rate of
belief that one product is better than another at the level of each characteristic. An
example of determination of weighted normalized value of each characteristic for each
considered product:
11 = 1 (0.268, 0.476. 0,692) = (0.038, 0.068, 0.099)
For car class B:
7
12 = 1 (0.195, 0.389. 0,597) = (0.028, 0.056, 0.085)

For car class C: 7
An example of determination of degree of belief that one product is better than

the other at the level of each characteristic:
0.038 0.085 0.047
11 >
( 12 ) = 1 12 >
( 11 ) = = = 0.8
0.056 0.85 (0.038 0.068) 0.059
21 >
( 22 ) = 1 22 >
( 21 ) = 0.5
31 >
( 32 ) = 1 32 >
( 31 ) = 0.08
41 >
( 42 ) = 1 42 >
( 41 ) = 0.66
51 >
( 52 ) = 1 52 >
( 51 ) = 0.73
61 >
( 62 ) = 1 62 >
( 61 ) = 0.63
71 >
( 72 ) = 1 72 >
( 71 ) = 0.69
81 >
( 82 ) = 1 82 >
( 81 ) = 0.99
91 >
( 92 ) = 0.9 92 >
( 91 ) = 1
4 CONCLUSION
The first type of car (class B) is better than the class C within the first eight
characteristics. Type of car class C is better than the B class car only according to the
characteristic that are marked as the price of the vehicle.
Based on the calculated rate of belief follows that both types of cars equally meet
the customer demands, except for the characteristic of braking stability. In other words,
the quality of the car type B is significantly better than the car type C respecting this
characteristic.
In this paper, the problem of improvement of outputs which is obtained in the first
"house of quality" of QFD method was considered. Improvement has been made in the
following way: demands that should be met and characteristics that cars class B and
class C have, are defined on the basis of good practice applying benchmarking methods;
the relative importance of the demands is specified using by fuzzy pair-wise comparison
matrix; the weights of demand are calculated by using extent analysis method [12]; the
values of characteristics are assessed by management team which use linguistic
expressions. The all uncertainties and imprecisions are modeled by using fuzzy sets
theory [7,20]. The weighted normalized values of characteristics are given by TFNs. The
results of comparison of these TFNs, and calculated the degrees present input data for
the second "house of quality" of QFD method.
498
NOMENCLATURE
degree of belief
CI coefficient of consistency
fuzzy number, symbol of weighted normalized decision matrix
fuzzy number, weighted normalized value
cost type
benefit type
fuzzy number, symbol of normalized fuzzy decision matrix
fuzzy number, relative importance of customer demands
defuzzyficated
weight vector of demand
REFERENCES
[1] Akao, Y. (1990). Quality Function Deployment, Productivity Press, Cambridge MA.
[2] Bergquist, K., Abeysekera, J. (1994). Quality Function Deployment (QFD) - A means
for developing usable products, International Journal of Industrial Ergonomics 18,
p.p. 269-275.
[3] Vea, I., Grubi, T. (2003). Application of the quality function deployment - QFD
method in a product design stage, 2nd DAAAM International Conference on
Advanced Technologies for Developing Countries ATDC03, Tuzla, Bosnia and
Herzegovina.
[4] Gargione, L. (1999). Using quality function deployment (QFD) in the design phase
of an apartment construction project, University of California, Berkeley, CA, USA.
[5] Jovanovi, B., Delibai B. (2014). Application of integrated QFD and fuzzy AHP
approach in selection of suppliers, University of Belgrade, Faculty of organizational
sciences, Serbia.
[6] Rajesh, G., Malliga, P. (2013). Supplier Selection Based on AHP QFD Methodology,
International Conference On DESIGN AND MANUFACTURING, 2013.
[7] Zimmermann, H. J. (2001). Fuzzy Set Theory and its Applications, fourth ed. Kluwer
Academic Publishers, Boston.
[8] Ayhan, M. (2013). A Fuzzy AHP approach for supplier selection problem: a case
study in a gearmotor company, International Journal of Managing Value and Supply
Chains (IJMVSC), vol.4, no. 3.
[9] Svirevi, V. (2016). Razvoj sistema za procenu i odabir direktnih dobavljaa u
automobilskoj industriji, doktorska disertacija, Fakultet tehnikih nauka, Novi Sad.
[10] Pani, A. K., Kar A. K. (2011). A study to compare relative importance of criteria for
supplier evaluation in e-Procurement, Proceedings of the 44th Hawaii International
Conference on System Sciences.
[11] Bogievi, Z. (2015). Izbor opreme za rukovanje materijalom primenom integrisanog
Fuzzy AHP i VIKOR metoda, IMK-14 Istraivanje i razvoj u tekoj mainogradnji,
SR87-92 UDC 621 ISSN 0354-6829.
[12] Chang, D. Y. (1996). Applications of the extent analysis method on fuzzy AHP,
European Journal of Operational Research, vol. 95, No. 3, pp.649655.
499
[13] Wu, W. H., Chiang, C. T., Lin, C. T. (2008). Comparing the aggregation methods in
the analytic hierarchy process when uniform distribution, WSEAS Transactions on
Business and Economics 5(3).
[14] Wu, C. R., Lin, C. T. & Chen, H. C. (2006). Integrated Environmental Assessment of
the Location Selection with Fuzzy Analytical Network Process, Quality & Quantity,
vol. 41, no. 1, 2006a.
[15] Shih, H. S., Syur, H. J., & Lee, E. S. (2007). An extension of TOPSIS for group
decision making, Mathematical and Computer Modeling, vol. 45, p.p. 801-813.
[16] Bass, M., S., Kwakernaak, H. (1977). Rating and Ranking of Multiple-aspect
Alternatives using Fuzzy sets, Automatica 3, p.p. 47-58.
[17] Dubois, D., Prade, H. (1979). Decision-making under fuzziness, in: Advances in
Fuzzy Set Theory and Applications, by (ed.)M.M. Gupta, R., K., Pagade, and P.,R.,
Yager, North-Holland, Amsterdam, p.p. 279- 302.
[18] Saaty, T. L. (1990). How to make a decision: The Analytic Hierarchy Process.
European Journal of Operational Research, 48, p.p. 9-26.
[19] Graham, I. (1991). Fuzzy logic in commercial expert systemsresults and prospects,
Fuzzy Sets and Systems, 40(3), p.p. 45172.
[20] Klir, G. J., Folger, T. A. (1988). Fuzzy sets, Uncertainty and Informations, Prentice-
Hall, Englewood Cliffs, NJ, USA.
500
_____________________________________________________________________________
QUALITY-RELATED INDICATORS, PERFORMANCES AND

RANKING IN HIGHER EDUCATION
Hrvoje Pukari1, Aleksandar orevi2, Sneana Nesti3, Aleksandar Aleksi4,
Gligorije MIrkov5, Miladin Stefanovi6
Abstract: The issue of quality as well as ranking of higher education institutions is very
important. We have been witnessing different approaches in evaluation of quality,
ranking, as well as number of different lists that rank Universities in Europe and World.
In this paper we will present the widest spread ranking lists for Universities. Authors will
also the issue of key performance indicators important for ranking of Universities. The
issues of benchmarking of different Universities as well as development of approaches
for improvement of specific Universities will be analyzed. This paper will be focused on
engineering sciences at University of Kragujevac.
Key words: quality, ranking, universities, higher education
1 INTRODUCTION
Ranking and performance measurement of Universities (as whole as well as
study programs) has huge importance for whole academic community as well as for
different stakeholders and users of services that University provides (students, industry,
business community, government ....). It is clear that universal metric does not exist as
well as universal sets of indicators that could be used for absolutely objective evaluation
of quality of Universities and study programs. Quality of education is not easy to evaluate
and rank [1, 2]. On the other hand it is clear that number of metrics and ranking exist
and they more or less fulfill the need for evaluation and ranking of universities in the
world. The ranking of the Universities is important not only to established the current
position on the lists, but to enable benchmarking and possibility to Universities to
compare each other, compare with the best in the class and to define the development
strategies in order to improve its own ranking, position and quality after all [3].
One of the goals of this paper is to present the most common approaches in
ranking of the Universities as well as it implementations and practices. The paper also
1
Hrvoje Pukaric, PhD student, Faculty of Engineering, University of Kragujevac, Serbia, xpboje@gmail.com
2
Aleksandar orevi, PhD, Faculty of Engineering, University of Kragujevac, Serbia
3
Sneana Nesti, PhD, Faculty of Engineering, University of Kragujevac, Serbia, s.nestic@kg.ac.rs
4
Aleksandar Aleski, PhD, Faculty of Engineering, University of Kragujevac, Serbia, aaleksic@kg.ac.rs
5
Gligorije Mirkov, PhD student, Faculty of Engineering, University of Kragujevac, Serbia
6
Miladin Stefanovi, PhD, Faculty of Engineering, University of Kragujevac, Serbia, miladin@kg.ac.rs
501
Hrvoje Pukari, Aleksandar orevi, Sneana Nesti, Aleksandar Aleksi, Gligorije MIrkov,
Miladin Stefanovi
has a goal to present the current position of Serbian Universities and position of the
University of Kragujevac (especially in engineering filed) in order to develop a set of
indicators that could be used for measurement and improvement of current position of
the University.
2 SELECTED RANKING SYSTEMS AND POSITION OF SERBIAN UNIVERSITIES

In the scope of this paper the three different lists used for ranking of the world
Universities will be analyzed: Webometrics, Shanghai list ARWU, U-Multirank. The set
of criteria used for ranking as well as methodology of the ranking will be analyzed as well
as the position of the Universities in Serbia. The general idea is to provide analysis of
current situation and position of the Serbian University, the analyze set of leading
indicators and to define the set of potential actions that could lead to the improvement
of the position of Serbian University (analyzing the University of Kragujevac).
2.1 Webometrics ranking system and position of Serbian Universities

"Webometrics Ranking of World Universities" is product, and strategy developed
by Consejo Superior de Investigaciones Cientficas (CSIC). Criteria that have been used
for ranking of the Universities are connected with their visibility on Internet, number and
size of the presentation, number of visits as well as influence of Universities web portals.
This organization has been following about 12000 Universities in the world, covering
data about students, professors, projects, publishing activities, scientific work,
international cooperation and influence of Universities on their environment. The list has
been updating twice per year (January and July). Webometrics covers scientific
communication (the scholarly communication processes), focusing on traditional citation
bases (WoS, Scopus) as well as publicly available information on the web. This includes
all information available by searches (visible web) but also a data published on invinsible
or hidden web.
Tabela 1. Comparison of the main World Universities' Rankings [12]

Criteria WR - Webometrics ARWU Shanghai list.
Universities analyzed 15 000 1 200
Universities ranked 5 000 500
Quality of education Alumni Nobel & Field 10%
Internationalization Web size 20% Size of institution 10%
Rich files 15% Nature & Science 20%
Research (Google) Scholar 15% SCI & SSCI 20%
(Link) Visibility 50% Highly Cited 20%
Researchers
Impact Staff Nobel & Field 20%
The indicators have been presented on table 1, column 2. From the table 1 it is
also to compare and contrast the main indicators of Webometrics and ARWU Shangai
list.
When it comes to Serbian Universities the University of Belgrade is placed on
625 places, and it is better placed that University in Maribor, Sofia, Zagreb and Sarajevo.
But it is behind the University of Ljubljana, Budapest, Athens and Brno. The addition
information is as following:
Comparing just Serbian Universities, University of Belgrade is no1, University
of Novi Sad is placed on the second place, University of Nis on the third place
502
Quality-related indicators, performances and ranking in higher education
and University of Kragujevac on the fourth place

(http://www.webometrics.info/en/Europe/Serbia)
Comparing Universities in Central and Eastern Europe the figures are as
following: University of Belgrade 17 place, University of Novi Sad 38,
University of Nis 71, and University of Kragujevac 104
(http://www.webometrics.info/en/Ranking_Europe/Central_Eastern_Europe
On the global list: University of Belgrade 536, University of Novi Sad 886,
University of Nis 1394 and University of Kragujevac 1686.
2.2 Shanghai list ARWU - Academic Ranking of World Universities

Academic Ranking of World Universities ARWU or much better known as
Shanghai list is a system for ranking of Universities published by University of Shangai
Cao Tun. The ranking started in 2004. The complete system is complex and could be
divided on different scientific areas. In general ranking the system is based on following
criteria (Table 2), These criteria are well established and could be checked and accessed
on line. This system has its own dynamics and characteristics and varies from other
systems [4, 5].
Table 2. Indicators and Weights for ARWU [10]
Criteria Indicator Code Weight
Quality of Alumni of an institution winning Nobel Prizes and Alumni 10%

Education Fields Medals
Quality of Faculty Staff of an institution winning Nobel Prizes and Fields Award 20%
Medals
Highly cited researchers in 21 broad subject categories HiCi 20%
Research Output Papers published in Nature and Science* N&S 20%
Papers indexed in Science Citation Index-expanded PUB 20%

and Social Science Citation Index
Per Capita Per capita academic performance of an institution PCP 10%

Performance
Total 100%
This concept also covers Global Research University Profiles (GRUP) as a

comprehensive database and benchmarking tool covering 1200 research universities in
the world. The ranking list for ARWU - FIELD covers five broad subject fields, including:
Natural Sciences and Mathematics (SCI);
Engineering/Technology and Computer Sciences (ENG);
Life and Agriculture Sciences (LIFE);
Clinical Medicine and Pharmacy (MED);
Social Sciences (SOC).
The ranking list for ARWU - SUBJECT rank institutions in five subject fields,
including Mathematics, Physics, Chemistry, Computer Sciences and
503
Miladin Stefanovi
Economics/Business. For instance ranking of institutions in the field of Engineering

covers 7 subjects in Engineering area. The following indicators are included:
Table 3. Indicators for ARWU FIELD Engineering [10]
Engineering
Indicator
Weight Indicator descriptions
code
The number of papers authored by an institution and indexed in Scopus in each

PUB 100
engineering subject
The number of world top 25% most cited papers in each engineering subject an
TOP25 100
institution has
The number of world top 1% most cited papers in each engineering subject an
TOP1 100
institution has
How the number of citations received by an institutions publications compares

FWCI 200 with the average number of citations received by all other similar publications in
each engineering subject the Scopus database
IC 100 The extent to which an institutions publications have international co-authorship.
The percentage of an institutions publication with academic and corporate or

CC 200
industrial co-authors.
MCR 100 Most Cited Researchers in each engineering subject
It refers to the total number of the staff of an institution wining a significant award
in an engineering subject. Von Hippel Award issued by Materials Research
AWARD 100 Society in the United States is selected for Materials Science & Engineering
ranking and Tyler Prize issued by University of Southern California in the United
States is selected for Environmental Science & Engineering ranking.
University of Belgrade is only University from Serbia ranked on ARWU list. The
University of Belgrade was placed on this list on 2012 for the first time and placed
between 401 and 500. On 2013 University of Belgrade moved to 301 to 400, and today
(2016) it is placed between 201 and 300.
Table 4. Breakdown of ranking points for University of Belgrade at ARWU

Criteria Rank
Score on Alumni 0
Score on Award 0
HiCi 0
N&S 4.4
PUB 43.7
PCP 22.3
504
This result University of Belgrade achieved with 3750 published manuscripts on SCI and
SSCI lists and 5 manuscripts in Nature & Science in 2015.
2.3 U-Multirank system

U-Multirank has a different approach in University ranking. This approach is
multidimensional and compares different Universities in specific sets of activities [6, 7,
8, 9]. Generally this system is based on five dimensions with larger number of indicators.
U-Multirank does not provide numerical ranking, but it places focus on the stakeholders
needs and serves as a support for their decision makings (students, university
management, policy makers, academics, business leaders...). This system also
combines institutional ranking and indicators for specific disciplines.
Figure 1. Status of University of Belgrade at U-Multirank
Three Serbian Universities are presented on this list: University of Belgrade,

University of Novi Sad and Educons Novi Sad. Figure 1 depicts position of University of
Belgrade according to five dimensions.
.Institutions are ranked in five different groups depending on performance (ranks
A to E). The following indicators are used:
Teaching and learning: Bachelor graduation rate, Master graduation rate),
Graduation on time (bachelors), and Graduation on time (masters).
Research: Citation rate, Research publications (absolute), Research
publications (relative), External research income, Art performances, Top cited
publications, Interdisciplinary publications, Post-doc positions.
Knowledge transfer: Co-publications with industry, Income from private
sources, Patents awarded (absolute), Patents awarded (relative), Industry
co-patents, Spin-off companies, Publications cited in patents, Income from
continuous professional training.
International orientation: Foreign language bachelor programmes, Foreign
language master programmes, Student mobility, International academic staff,
International joint publications, International doctorate degrees.
505
Miladin Stefanovi
Regional engagement: Bachelor graduates working in the region, Master

graduates working in the region, Student internships in the region, Regional
joint publications, Income from regional sources.
It is clear that this approach covers larger number of indicators on one side, and
on the other side it is conceptually different providing information without publishing
exact listings.
3 ANALYSIS OF APPROACHES IN IMPROVEMENT OF POSITIONS OF SERBIAN

UNIVERSITIES
In previous text the three different ranking mechanisms were analyzed according
to their importance and ranking indicators. At all presented lists the University of
Belgrade is leader in Serbia and it has good position in this part of the Europe. The main
reasons are following: University of Belgrade is the largest and probably the best
University but on the other side they realized the importance of ranking and management
of key performance indicators. On the second place University of Novi Sad has been
trying to follow the example, while other two Universities in Serbia (Kragujevac and Nis)
do not provide meaningful effort in this direction.
The number of activities could be carried out on different levels. The best
possible approach is to define general concepts in Strategy of Quality, quality goals and
action plans. In the second step all necessary documents should be developed in line
with strategy, goals and action plans. On the other hand it is possible to define and
implement a number of ad hoc actions using the Commission for Quality Assurance on
the University level. This approach could not be that efficient as the previous one, but it
could improve the present situation.
The possible set of actions has been defined according to specific indicators and
methodology of analyzed ranking systems and there were also defined to be suitable for
University of Kragujevac.
Webometrics. It is possible to make a rapid improvement of position of
University of Kragujevac. The possible actions include increase in amount
and quality of the publications of University of Kragujevac that are uploaded
to web portal. Web portal should be expanded in order to cover following:
information about professors and researchers, study programs, research
results as well as teaching material. It is also necessary to promote necessity
that all academic staff at University opens their profiles on Google Scholar,
as well as to update their SCOPUS profiles (the special attention should be
directed to proper name of the academic institution). It is necessary to pen
and promote university learning management system that will contain
teaching and learning material (including different formats such as Adobe
Acrobat (.pdf), Adobe PostScript (.ps), Microsoft Word (.doc) and Microsoft
Powerpoint (.ppt). Also it will be useful to follow other directions listed on
Webometrics web site.
ARWU. Only University of Belgrade (among Serbian universities) is listed on
this ranking list. Numbers of criteria that have been used for ranking are very
complex and hard to fulfill, but it is important to state that University of
Belgrade is listed on 201-300 position based only on number of SCI and SSCI
manuscripts and manuscripts in Nature and Science journals. The first step
for University of Kragujevac should be estimation of existing number of
manuscript per year and per researcher as well. The second step is
506
promotion of idea for increased publishing as well as introduction of these

criteria in specific documents (for promotion of professors for an example).
Also it is necessary to make analysis of ARWU field and ARWU subject criteria
and indicators. For instance in Engineering filed it some of the criteria listed in table 3
could be easily increased (for instance number of papers listed in SCOPUS, international
co-authorship, corporate or industrial co-authors.
The most important step is calculation of number of SCI manuscripts per year
and per researcher. For Faculty of Engineering, University of Kragujevac data for 2015
are presented in table 5.
Table 5. Number of SCI manuscript at Faculty of engineering, for year 2015

2015 Rank No. of Number of Per
manuscripts employees employee
Faculty of 21 27 65 0,415385
Engineering, 22 12 0,184615
University of 23 21 0,323077
Kragujevac 60 0,923077
Table 5 shows that there is about 1 SCI manuscript per employee per year. This
is a starting point for definition of strategies for improvement of this number.
U-Multirank. The first step will be measurement or estimation of the level of the
indicators from five defined groups: Teaching and learning, Research, Knowledge
transfer, International orientation, Regional engagement. All indicators should be divided
in three groups. In the first group should be listed the indicators that could be improved
in the short term, in the second group indicators that need more time for improvement,
and in the third group indicators that need strategic improvement and changes. On the
other hand number of these criteria is interconnected. For instance the number of foreign
students and number of publication with international co-authorships is closely
connected with number of study programs in foreign languages, international project and
cooperation.
It is also clear that some of the indicators are similar or even identical in some
ranking systems. On the other hand some of the ranking systems are more or less
demanding. Some of the recommendations should go in direction of analysis of identical
criteria, dividing them on the time line and start with their measuring, monitoring as well
as approaches for their improvement. The general idea could be to start for instance with
Webometrics and U-Multirank and use initial results of benchmarking to further improve
defined criteria.
4 CONCLUSION
It is clear that, measurement of performances and ranking of Universities does
not represent complete status of quality of specific University, but on the other hand
these rankings are unavoidable in determination and definition of quality of Universities
and higher education as whole.
In the scope of this manuscript three different approaches for ranking of
Universities were analyzed based on their key performance indicators as well as
methodology of ranking Universities. The Webometrics I based on presence of the
University on the web, U-Multirank provide probably the best tool for benchmarking,
strategy definition and decision support, and finally ARWU is the most distinguished
ranking systems.
507
Miladin Stefanovi
Serbian state Universities were analyzed in the scope of these ranking system.
The University of Belgrade has leading position, other Serbian universities should follow
some of the experience of University of Belgrade and try to change their document
including strategy, goals and action plans in order to improve their processes as well as
values of key performance indicators. According to the analysis all of these ranking
systems are based on similar indicators.
The general idea is that Universities should define their documents and start
with activities in improvident of their processes and indicators. Some of the indicators
could be improved in the short time, but some others need long term activities in order
to improve. On the other hand some of these indicators are interconnected. This paper
also gives some of the directions that could be used for some Universities on the path
of improvement of their key performance indicates and improvement of their places on
specific list.
It is clear that performance measuring, definition, monitoring and improvement
of key indicators are very important for improvement of level of teaching and research in
Universities as well as quality of Universities and higher educational system in whole.
ACKNOWLEDGMENT
Research presented in this paper was partly supported by Erasmus + project 573820 -
EPP-1-2016-1- RS-EPPKA2-CBHE-SP, Title: DEVELOPMENT AND
IMPLEMENTATION OF SYSTEM FOR PERFORMANCE EVALUATION FOR
SERBIAN HEIS AND SYSTEM - PESHES.
REFERENCES
[1] Adams, D. (1993). Defining educational quality. Improving Educational Quality
Project Publication, 1.
[2] Nightingale, P., & O'Neil, M. (Eds.). (2012). Achieving quality learning in higher
education. Routledge.
[3] Aguillo, I. F., Bar-Ilan, J., Levene, M., & Ortega, J. L. (2010). Comparing university
rankings. Scientometrics, 85(1), 243-256.
[4] Docampo, D., & Cram, L. (2014). On the internal dynamics of the Shanghai
ranking. Scientometrics, 98(2), 1347-1366.
[5] Piro, F. N., & Sivertsen, G. (2016). How can differences in international university
rankings be explained?. Scientometrics, 1-16.
[6] Vossensteyn, H. (2011). Quality-related funding, performance agreements and
profiling in higher education. Center for Higher Education Policy Studies.
[7] Benneworth, P., Boer, H. D., Cremonini, L., Jongbloed, B., Leisyte, L., Vossensteyn,
H., & Weert, E. D. (2011). Quality related funding, performane agreements and
profiling in higher education: An international comparative study. CHEPS report,
University of Twente, Enschede.
[8] Van Vught, F. A., & Ziegele, F. (Eds.). (2012). Multidimensional ranking: The design
and development of U-Multirank (Vol. 37). Springer Science & Business Media.
[9] Hicks, D. (2012). Performance-based university research funding systems.Research
policy, 41(2), 251-261.
[10] Shanghai lista ARWU (http://www.shanghairanking.com)
[11] U-Multirank (www.umultirank.org/)
[12] Webometrics (http://www.webometrics.info/)
508
_____________________________________________________________________________
IMPLEMENTACIJA SISTEMA UPRAVLJANJA ENERGIJOM ISO

50001:2011 U BIH
Ranka Gojkovi1, Slavia Moljevi2, Duan Gordi3
Rezime: Potreba za pravilnim koritenjem energetskih resursa i obnovljivih izvora

energije dovela je do uspostavljanja novog meunarodnog standarda u cilju
spreavanja nepravilne potronje energije i smanjenja zagaivaa ivotne sredine.
Svrha ovog standarda je da omogui organizacijama da uspostave sistem i procese
potrebne za poboljanje energetskih performansi, ukljuujui i energetsku efikasnost,
koritenje i potronju. Implementacija sistema za upravljanje energijom, pomae
organizacijama u planiranju radi smanjenja trokova energenata, optimizaciji primjene
energije, smanjenja zagaivanja ivotne sredine i obezbjeenje odgovarajueg
sadraja energije proporcionalnog kvaliteta i trokova.
Kljune rijei: ISO 50001:2011, Upravljanje energijom
IMPLEMENTATION OF ENERGY MANAGEMENT SYSTEMS ISO 50001:2011 IN

B&H
Abstract: Need for proper utilization of energy resources and renewable energy, has
lead to establishment of a new International Standard in order to prevent irregular
consumption of energy and reduction of environmental pollutants. The purpose of this
systematic Standard is to enable organizations to establish the systems and processes
necessary to improve energy performance, including energy efficiency, use and
consumption. Implementing of an energy management system, helps the organizations
in planning for decreasing the costs of energy carriers, optimized application of energy,
reducing environmental pollutants excretion and providing appropriate content of
energy proportional to quality and costs.
Key words: ISO 50001:2011, Energy management
1 V.ass, Ranka Gojkovi, Univerzitet u Istonom Sarajevu, Mainski fakulte Istono Sarajevo, Istono
Sarajevo, Bosna I Hercegovina, rankagojkovic@gmail.com (CA)
2 Prof.dr, Slavia Moljevi Univerzitet u Istonom Sarajevu, Mainski fakulte Istono Sarajevo, Istono
Sarajevo, Bosna I Hercegovina, slavisa.moljevic@gmail.com

3 Prof.dr, Duan Gordi, Fakultet Inenjerskih nauka, Kragujevac, Srbija, gordic@kg.ac.rs
509
Ranka Gojkovi, Slavia Moljevi, Duan Gordi
1 UVOD
Sa sve veim i konstantnim zagaivanjem ivotne sredine, raste i svijest ljudi
da se neto mora uiniti kako bi se smanjilo zagaenje planete. Kako neekolokim
ponaanjem svakog stanovnika, tako i radom neekolokih proizvodnih postrojenja,
planeta se svakodnevno zagauje i unitava. Jedan od faktora koji znaajno utie na
parametre ivotne sredine jeste i energija, njeno korienje, potronja i ouvanje. [1]
Od menadmenta organizacija i njihove posveenosti poboljanjima u oblasti
energetske efikasnosti, najvie zavisi uspjenost svakog projekta energetske
efikasnosti. Menadere i vlasnike interesuje uteda i poveanje profita. Jedan od
dobrih primjera spajanja uteda i ekolokih efekata je meunarodni standard ISO
50001:20111. Prethodni standard EN 16001:2009 je evropska pretea meunarodnog
standarda ISO 50001:2011. Meunarodni standard ISO 50001:2011, u odnosu na
evropski standard predstavlja iri pristup kojim se ujedno konkretnije rjeavaju pitanja
primjene.
Pod terminom energetski menadment ne podrazumijeva se samo upravljanje
energijom, nego i upravljanje organizacijom bilo kojeg tipa sa aspekta energije. Ovo
ima smisla jer gotovo svaka odluka koju donosi rukovodstvo organizacije, bez obzira
na tip organizacije i bez obzira na ta se odnosi, ima veze sa energijom. Energija nije
cilj sama za sebe, cilj je koristiti efekte energije, zato se energetski menadment
odnosi na efikasno koritenje energije u svim bitnim aktivnostima organizacije.
Postoje podaci da se mnogo vee utede u energiji postiu dobrim
gazdovanjem energijom, prije nego primjenom skupih tehnikih i tehnolokih rjeenja.
Ovo je upravo hipoteza na kojoj poiva standard ISO 50001. Standard ISO 50001 daje
smjernice za postupke u organizaciji koje treba sprovesti, kako energetska efikasnost
ne bi bila samo fraza koja se pominje i primjenjuje, ve energetska efikasnost postaje
motiv za reorganizaciju u preduzeu, sredstvo za postizanje uteda i sistem koji
omoguava ukljuivanje svih zaposlenih u mjere energetske efikasnosti, na relativno
prihvatljiv i razumljiv nain.[1]
2 OSNOVNE ODLIKE STANDARDA ISO 5001

Na inicijativu nekoliko evropskih zemalja 1. juna 2009. godine prvi put je
objavljen evropski standard u podruju sistema upravljanja energijom - EN
16001:2009, a 2011. godine je meunarodni standard ISO 50001:2011 - Energetski
sistem upravljanja - Zahtjevi sa uputstvima za primjenu, zamijenio standard EN
16001:2009.
Razloge za izdavanje globalnog standarda u podruju upravljanja energijom
treba potraiti u injenici to se ovjeanstvo, zbog stalnog porasta populacije, susree
s neprekidnim porastom potrebe za razliitim oblicima energije te injenici da se
zadnjih godina znaajno poveala svijest ljudi o vanosti odrivog upravljanja
energijom kao jednim od kljunih faktora za opstanak civilizacije i drutva u obliku u
kom ga danas poznajemo.
Energija je takoe kritian element za sve poslovne subjekte koji na vrlo
dinaminom tritu tee pronalasku prostora za neprekidno poboljanje svoje
konkurentnosti, a u emu troak potroene energije moe predstavljati znaajnu
stavku. Osim trokova potronje energije za organizaciju, potronja energija moe
izazvati i tetu za okolinu i drutvenu zajednicu zbog troenja prirodnih izvora i
negativnog uticaja na klimatske promjene.
Zahtjev ISO-u da razvije meunarodni standard za upravljanje energijom doao
je od Organizacije Ujedinjenih nacija za industrijski razvoj (United Nations Industrial
510
Implementacija sistema upravljanja energijom ISO 50001:2011 u BiH
Development Organization UNIDO) koja je prepoznala potrebu industrije da da

efikasan odgovor na klimatske promjene i na porast broja nacionalnih standarda za
upravljanje energijom. ISO je zauzvrat identifikovao upravljanje energijom kao jedno od
pet glavnih podruja za razvoj meunarodnih standarda i 2008. godine osnovao
projektni komitet ISO/PC 242, Energy management (upravljanje energijom), koji e
obaviti dati posao. ISO/PC 242 vodili su lanovi ISO-a iz Sjedinjenih Amerikih Drava
(Ameriki nacionalni institut za standardizaciju - American National Standards Institute
ANSI) i Brazila (Associao Brasileira de Normas Tcnicas ABNT).
Eksperti nacionalnih tijela za standardizaciju iz 44 zemlje lanice ISO-a
uestvovali su u razvoju ISO 50001, sa jo 14 zemalja posmatraa. Standard je imao
koristi i od uea razvojnih organizacija ukljuujui UNIDO i WEC (Svjetsko
energetsko vijee - World Energy Council).[2]
ISO 50001 se mogao osloniti i na brojne nacionalne ili regionalne standarde za
upravljanje energijom, specifikacije i propise, ukljuujui one razvijene u Kini, Danskoj,
Irskoj, Japanu, Junoj Koreji, Holandiji, vedskoj, Tajlandu, SAD-u i Evropskoj uniji.
Standardom ISO 50001 se specificiraju zahtjevi za sistem menadmenta
energijom, na osnovu kojih organizacija donosi energetsku politiku i uspostavlja
energetske ciljeve i akcione planove za realizaciju tih ciljeva, uzimajui u obzir
zakonske zahtjeve i ostale zahtjeve (preporuke, nacionalne strategije i sl.) koji se tiu
potronje energije i energetske efikasnosti. Osnovni ciljevi koji se ele postii ovim
standardom su smanjenje emisija gasova staklene bate i trokova za energiju. Krajnji
cilj koji treba da je postignut je poboljanje energetske performanse. Svrha standarda
je da omogui organizacijama da uspostavi sisteme i procese za poboljanje
energetske performanse (energetska efikasnost, potronja energije i korienje
energije).
Standard ISO 50001 moe biti samostalno implementiran ili integrisan sa
nekim od sistema menadmenta, kao to su sistem menadmenta kvaliteta (ISO
9001), sistem menadmenta ivotne sredine (ISO 14001), sistem menadmenta
bezbjednosti i zdravlja na radu (OHSAS 18001) ili mnogi drugi. Standard je iroko
primjenljiv, kako u proizvodnom, tako i u komercijalnom, institucionalnom ili sektoru
usluga. Primjenljiv je u organizacijama svih vrsta i veliina, bez obzira na geografske,
kulturne i drutvene uslove. Standard ISO 50001 omoguava organizacijama da
proire odgovornost prema ivotnoj sredini na upravljanje energetskim izvorima i
potronju energije. Kao takav, on predstavlja glavnu komponentu organizacione
odgovornosti, pruajui internacionalno priznat stav, kako za tehniki tako i za strateki
aspekt upravljanja energijom i njenom potronjom, ime se potuje sve otrija
zakonska regulativa u ovoj oblasti. Osim toga, smanjuju se trokovi za sve skuplju
energiju i fokusira se na smanjenje emisije CO 2. ISO 50001 standard prua mogunost
organizacijama i kompanijama sa tehnikim i menadment strategijama da poveaju
energetsku efikasnost, smanje trokove i umanje negativan uticaj na ivotnu sredinu.
Iako je prije svega namijenjen industriji, standard se moe primijeniti na bilo koju vrstu
organizacije koja eli efektivno da upravlja upotrebom energije i njenom efikasnou.
Standard obezbjeuje prepoznatljiv okvir organizacijama za integraciju standarda
upravljanja energijom u svoju menadment praksu. Internacionalne organizacije su na
ovaj nain dobile pristup jednom, harmonizovanom standardu za implementaciju irom
organizacije, sa loginom i posledinom metodologijom za identifikaciju i
implementaciju unapreenja u oblasti upravljanja energijom.
Kao i ostali standardi za sisteme menadmenta, i standard ISO 50001 je
namijenjen za sertifikaciju. Takoe je zasnovan na PDCA metodologiji, pa otud i
kompatibilnost meu standardima.
U smislu menadmenta energijom, PDCA pristup je prikazan na slici 1.[2]
511
Planirajte: sprovedite energetsko preispitivanje, uspostavite energetsku

poredbenu vrijednost, indikatore energetske performanse, opte i posebne ciljeve i
akcione planove, potrebne za dobijanje rezultata koji e poboljati energetsku
performansu u skladu sa energetskom politikom organizacije;
Uradite: primijenite akcione planove menadmenta energijom;
Provjerite: pratite i mjerite procese i kljune karakteristike aktivnosti koje
odreuju energetsku performansu u odnosu na politiku i opte ciljeve i izvjetavajte o
rezultatima;
Djelujte: preduzimajte mjere da bi stalno poboljavali energetsku performansu i
sistem menadmenta energijom.
Slika 1. Ciklus energetskog menadmenta prema standardu ISO 50001
2.1 Tok uvoenja standarda ISO 5001 (EnMS)

Postupak implementacije standarda ISO 50001 ogleda se u sljedeim fazama:
Imenovanje tima i predstavnika rukovodstva EnMS
Energetsko planiranje podrazumijeva:
sprovoenje energetskog preispitivanja,
uspostavljanje energetske poredbene vrijednosti,
utvrivanje pokazatelja energetskih performansi i
uspostavljanje optih i posebnih ciljeva i akcionih planova.
Primjena i sprovoenje podrazumijeva:
obezbjeivanje kompetentnog osoblja za uspostavljanje i odravanje
sistema upravljanja energijom, kao i njihovu obuku,
internu i eksternu komunikaciju,
dokumentaciju i upravljanje dokumentima sistema,
upravljanje operacijama,
projektovanje i
nabavku energetskih usluga, proizvoda, opreme i energije.
Provjeravanje podrazumijeva:
praenje, mjerenje i analizu prikupljenih podataka,
vrednovanje usaglaenosti sa zakonskim i drugim zahtjevima,
internu provjeru sistema upravljanja energijom,
512
upravljanje neusaglaenostima i sprovoenje korekcija, korektivnih i

preventivnih mjera i
upravljanje zapisima.
Preispitivanje od strane rukovodstva rukovodstvo mora uzeti u obzir:
mjere proistekle iz prethodnih preispitivanja,
rezultate preispitivanja energetske politike,
rezultate preispitivanja energetskih performansi organizacije i
pokazatelja energetskih performansi,
rezultate vrednovanja usaglaenosti sa zakonskim i drugim zahtjevima,
nivo ispunjenosti usvojenih optih i posebnih ciljeva, kao i naina
sprovoenja akcionih planova,
rezultate sprovoenja internih provjera,
efekte sprovoenja i statuse korektivnih i preventivnih mjera,
oekivani energetski uinak za naredni period i
preporuke za poboljanja, internog i eksternog karaktera.
Poput ostalih ISO standarda sistema menadmenta ISO 50001 moe biti
implementiran radi postizanja unutranjih i spoljanih benefita na nivou cijele
organizacije ukljuujui sve kljune korisnike (kupci, korisnici usluga,...). Sertifikacija od
strane nezavisnog auditora o usaglaenosti korisnikovog sistema za upravljanje
energijom sa ISO 50001 nije uslov samog standarda. Sertifikoavati ili ne je odluka koju
treba da donese ISO 50001 korisnik, osim ako mu ta obaveza nije nametnuta
propisima. Alternativa nezavisnom sertifikovanju od strane tree strane je da se
pozovu korisnici organizacije da verifikuju implementaciju ISO 50001 u skladu sa
standardom ili da se samoproglasi usaglaenost.
3 IPLEMENTACIJA STANDARDA ISO 50001:2011 U BIH

Procjene strunjaka nakon to je izala prva verzija standarda ISO 50001 bilo
su veoma pozitivne. Neke od prdpostavka bile su da e ISO 5001 uspostaviti okvir za
industrijska postrojenja, komercijalne, institucionalne i vladine objekte, i cijele
organizacije za upravljanje energijom. Preko svoje mogue iroke primjene u raznim
sektorima procenjuje se da bi standard mogao da utie na 60% svjetske potronje
energije.[3][5]
Prema podatcima ISO organizacije broj certifikovanih preduzea prema ovom
standardu u zemljama Evrope je u stalnom porastu, sa 364 certifikovana preduzea u
2011. godini, boj certifikovanih preduzea u 2015. godini je porastao na 10152, to je i
prikazano na slici 2.
Slika 2. Broj certifikovanih preduzea u EU
513
Prema podacima ISO meunarodne organizacije zemlja sa najveim brojem

certifikovanih preduzea u svijetu je Njemaka, zatim Velika Britanija, a u prvih deset
zemlja su i Indija i Kina.
U tabeli 1 je prikazan broj certifikovanih preduzea u zemljama Evrope za
period od 2011. do 2015. godine. [4]
Iz tabele se takoe moe vidjeti da najmanji broj certifikovanih preduzea po ovom
standardu imaju Bosna i Hercegovina, Crna Gora i Makedonija.
Tabela 1. Broj certifikovanih preduzea prema standardu ISO 5001 u zemljama Evrope
ISO 50001 - Evropa
Godina 2011 2012 2013 2014 2015
Albanija 1 1 4
Austria 4 24 67 109 220
Bosna i Hercegovina 1 1 1
Bugarska 1 6 12 22
Hrvatska 3 6 10 21
eka 1 10 16 32 73
Francuska 3 37 86 270 500
Njemaka 42 1133 2477 3402 5931
Grka 2 9 16 25 45
Maarska 3 13 29 68
Italija 30 74 258 294 470
Crna Gora 1 1 1
Norveka 9 9 14 19 19
Poljska 2 12 22 38 74
Rumnija 66 55 60 56 69
Srbija 2 3 9 21
Slovaka 1 12 12 36
Slovenia 3 8 14 16 10
panija 95 127 196 310 390
vedka 62 72 94 87 85
Makedonija 1 0 2 1
Turska 2 16 42 76 100
Velika Britanija 11 136 330 376 1464
3.1 Koristi od implementacije sistema upravljanja energijom

Preduzea koja imaju uspostavljen, primijenjen i odravan sistem menadmenta
energijom, na ovaj nain:
Postavljaju osnovu za poreenje korienja energije u odreenim
vremenskim periodima, meu sektorima, ali i u okviru industrije i
konkurentskih organizacija (benchmarking)
Aktivno upravljaju korienjem energije, racionalizacijom i evidentiranjem
nastalih uteda, kao posljedica poboljanja u upravljanju energijom.
Smanjuju emisije u ivotnu sredinu, kroz smanjenje korienja ili primjenu
obnovljivih izvora energije, bez negativnog efekta na izvoenje operacija i
aktivnosti u organizaciji.
Stalno poboljavaju odnos parametara potronje energije i postignutog
izlaza iz radnih aktivnosti.
Evidentiraju i dokumentuju utede, koje mogu kasnije koristiti, kako za
internu upotrebu (na primjer poreenje potronje energije u razliitim
514
odjeljenjima), tako i za eksternu upotrebu (na primjer poreenje meu

organizacijama ili marketinki efekat).
ISO 50001 je napravljen kako bi parirao standardu ISO 14001 za sisteme
upravljanja zatitom ivotne sredine. Kao posljedica toga, organizacije koje su ve
implementirale ISO 14001 sistem mogu lako integrisati ISO 50001 u postojeu
strukturu. Kao i kod standard ISO 9001 i ISO 14001, postoji proces sertifikacije ISO
50001 standarda kojim se potvruje poslovanje prema tom sistemu menadmenta.
ISO 50001 omoguava da se sistematski postavi set ciljeva u vezi sa
energijom i nudi pomo u njihovom ostvarenju, ime se ostvaruju znaajne utede
energije. Pored toga, mnoge drave nude stimulativna sredstva i razliite poreske
olakice za organizacije koje imaju implementiran ovaj sistem upravljanja energijom,
koji je meunarodno prihvaen.
Neke od koristi razvoja i implementacije ISO 50001 sistema za upravljanje
energijom su:
smanjena upotreba energije,
kontrola i smanjenje trokova energije,
smanjenje negativnog uticaja na ivotnu sredinu,
priprema za praenje i izvjetavanje o emisiji gasova staklene bate,
kredibilitet u javnosti o energetskoj svjesnosti.
3.2 Mogui problemi pri implementaciji EnMS-a

Mogui problemi sa kojima se moemo susresti kod implementacije EnMS-a i
drugih sistema upravljanja u razliitim preduzeima (organizacijama) mogu biti:
Deklarativno prihvatanje zahtjeva EnMS-a od Vlasnika procesa (jo jedna
stvar onih koji nemaju drugog posla, bolje da rade i da se bave
proizvodnjom, a ne da filozofiraju, ja znam da radim dobro i najbolje...)
Miljenje da je u pitanju papirologija samo da se zadovolji forma zahtjeva
EnMS-a kao i paralelno voenje line evidencije i rad mimo propisanih
pravila,
Predstavnik rukovodstva za kvalitet i energiju nema dovoljnu podrku i
stvarno ovlatenje rukovodstva,
Nedostatak motivacionog faktora za zaposlene koji primjenjuju, odravaju i
poboljavaju sistem,
Dokumentacija sistema je sve obuhvatila, ali primjena, odravanje i
poboljanje nije zadovoljavajue,
Najee jedan zaposleni obavlja vie funkcija, to rezultira povrnim radom
da se zadovolji forma, bez znaajnih poboljanja,
Identifikovani problemi i neusklaenosti, koji se pokuavaju sistemski rijeiti
se sporo ili nikako ne rjeavaju,
Neposredni izvrioci koji trebaju da primijene tekst dokumenta skoro uvijek
imaju primjedbu, ali ne nude odgovore kako treba,
Dio zaposlenih misli da je sistem predokumentovan bez neke oigledne
koristi
Nedovoljna obuka zaposlenih koji e primjenjivati sistem sa objanjenjem
zato je potrebno da se proces odvija u skladu sa procedurom, radnim
upustvom ili planom,
Oekivanja od Sistema da rijei sve probleme bez adekvatnog ukljuivanja
vlasnika procesa i svih zaposlenih.
515
Klju za uspjeno funkcionisanje EnMS-a i svih drugih sistema je timski

procesni pristup i potrebno je znati upravljati promjenama, jer ako neto ne
promijenimo neemo imati ni poboljanja.
4 ZAKLJUAK
Uopteno se moe rei da u BiH jo uvijek nisu prepoznate potrebe za
upravljanjem energijom, energetskom efikasnosti i obnovljivim izvorima energije.
Postratnu BiH, skladno stanju u drugim oblastima, karakterie dezintegracija i
podijeljenost energetskog sektora, kao jednog od najbitnijih segmenata u ekonomiji
bilo koje zemlje. Veoma sporo i oteano postizanje meuentitetskih kompromisa, koji
su neophodni kada je u pitanju reintegracija baznih funkcija energetskog sektora kao
preduslova za ispunjenje dravnih obaveza BiH preuzetih potpisivanjem i ratifikacijom
meunarodnih ugovora, povelja, sporazuma i obaveza koje proistiu iz lanstva BiH u
meunarodnim organizacijama i institucijama, dodatno uslonjava stanje u ovoj oblasti.
Disharmonija nadlenosti i kompetencija u energetskom sektoru BiH (Energetski sektor
Bosne i Hercegovine nije u nadlenosti drave Bosne i Hercegovine nego entiteta,
osim funkcije koordinacije u okviru Ministarstva vanjske trgovine i ekonomskih odnosa)
s jedne strane i preuzetih meunarodnih obaveza BiH u procesu integracija i
ispunjenja obaveza s druge strane proizvodi veliko kanjenje, objektivno mogueg
breg razvoja i korienja meunarodnih finansijskih izvora i projekata. Susjedne i
ostale zemlje iz bive Jugoslavije postiu bri napredak u reformama energetskog
sektora, jer nisu optereene unutranjim strukturnim i drugim problemima kao BiH.
Osim politikih, jedan od razloga ne prepoznavanja ovog standarda na podruju BiH je
to certifikacija nije uslovljena samim standardom.
LITERATURA
[1] Boani, V., Jovanovi, B. (2012). Standard ISO 50001- prednost za lidere u
oblasti energetske efikasnosti. 6. Meunarodni forum o obnovljivim izvorima
energije, Novi Sad.
[2] International Standard, (2011). Energy management systems - Requirements with
guidance for use, - EN 50001:2011
[3] Guidelines for implementing ISO 50001 Energy Management Systems.
[4] ISOs website www.iso.org, pristupljeno 15.09.2016.
[5] Pinero E, 2009, - Future ISO 50001 for energy management systems, ISO
Focus, 18-20.
516
_____________________________________________________________________________
KLASTER KAO MODEL ORGANIZACIJE MALIH I SREDNJIH

PREDUZEA
Vlado Medakovi1, Bogdan Mari2, Ranka Gojkovi3
Rezime: U radu je prikazan klaster kao vid preduzetnike infrastrukture u cilju podrke
razvoja malih i srednjih preduzea. Klaster je mrena organizacija ili grupa preduzea,
najee konkurentskih djelatnosti, koja su meusobno povezana vertikalno ili
horizontalno. Klu uspjenog formiranja klastera, a samim tim i ekonomski uspjeh
preduzea lanica klastera, nije samo da iskoriste ve postojee prednosti nego i da
ukljue potencijal sinergije kroz mreu i strukturu klastera i da tako obezbjede dale
konkurentske prednosti, te da ih odrivo uvrste.
Kljune rijei: klaster, preduzetnitvo, preduzetnika infrastruktura, MSP-a,
CLUSTER AS A MODEL ORGANIZATION FOR SMALL AND MEDIUM-SIZED

ENTERPRISES
Abstract: The paper presents cluster as a form of entrepreneurial infrastructure in order
to support the development of small and medium enterprises. The cluster is a network
of organizations or groups of companies, usually competitive activities, which are
connected vertically or horizontally. The key to a successful cluster, and therefore the
economic success of the enterprise cluster members, not only to take advantage of the
benefits, but I include the potential synergies across the network and structure of
clusters and so to continue to provide a competitive advantage, and to strengthen them
sustainably.
Key words: cluster, entrepreneurial, entrepreneurial infrastructure, SMEs,
1 UVOD
Kada je Michael Porter ranih 90-tih godina objavio knjigu o prednostima nacija
u sistemu trinog utakmice, koncept klastera je postao znaajan instrument strukturne
i regionalne politike u Evropi.
Klaster je mrena organizacija ili grupa preduzea (specijalizovanih jedinica)
koje su koordinirane trinim mehanizmima prije nego lancima nareivanja (komandi)
1 Dr Vlado Medakovi, Mainski fakultet Istono Sarajevo, BiH, RS, e-mail:vlado.medakovic@gmail.com(CA)

2 Dr Bogdan Mari, Pedagoki fakultet Bijeljina, BiH, RS, e-mail: maricbogdan@gmail.com
3 Ranka Gojkovi, master, Mainski fakultet Istono Sarajevo, BiH, RS, e-mail: rankagojkovic@gmail.com
517
Vlado Medakovi, Bogdan Mari, Ranka Gojkovi
[3].
Klaster (claster grozd) ine preduzea koja su meusobno povezana,
vertikalno (kupac dobavlja) ili horizontalno (isti kupci, tehnologije, distribucija i td.).
Konkurentske grane su najee grupisane u klastere.
Klaster[5] je oblik preduzetnike infrastrukture koji na jednom geografskom
podruju ine meusobno povezani privredni subjekti koji posluju u istim, srodnim ili
razliitim djelatnostima i sa njima povezani specijalizovani dobavljai, pruaoci usluga,
obrazovne i naunoistraivake institucije, agencije i drugi.
U praksi razvoja malih i srednjih preduzea model klastera zasluuje posebnu
panju. Pokazao se praktinim posebno u zemljama koje imaju tradiciju u podrci
razvoju malih preduzea. Neposredna predhodnica razvoju klastera su inkubatori i
zapravo tamo gdje postoje iskustva sa inkubatorima, klasteri su se brzo razvijali.
Povezivanje preduzetnika, njihova saradnja, dijeljenje usluga i opreme odnosno
njihovo umreavanje u najee klastere, takoe je, navodi[1] uticaj rada veine
inkubatora.
Klastere[4] predstavlja kao osnovu nove konkurentske ekonomije,
naglaavajuci njihov znaaj za poveanje konkurentnosti preduzea na domaem i
meunarodnom tritu.
Porter ih definie kao geografske koncentracije medusobno povezanih
kompanija, specijalizovanih dobavljaa, davalaca usluga, firmi iz srodnih djelatnosti i
sa njima povezanih relevantnih institucija (univerziteti, agencije za standardizaciju i
strukovna udruenja), koje u odreenim oblastima meusobno konkuriu, ali i
sarauju.
Klaster, kao koncentracija kritine mase[4] izuzetnog konkurentskog uspjeha u
odreenoj djelatnosti, predstavlja znaajnu karakteristiku svake drave, regionalne i
gradske privrede, posebno u ekonomski razvijenim zemljama.
U zemljama u tranziciji klasterima se upravo ukazuju perspektive. Treba imati u
vidu da se steena iskustva u razvoju klastera u zemljama Evropske unije mogu
prenijeti u domau praksu bez lutanja, koja bi u stihijskom razvoju bila neizbjena.
2 KLASTER KAO MODEL PODRKE RAZVOJU PREDUZEA

Sistem klastera ili grozdova novi je globalni model razvoja malih preduzea.
Razvijaju se tamo gdje je razvoj malog biznisa ve dosegao zavidan nivo i gdje
sistematske mjere drave tome pogoduju.
Doprinose da se preduzea brzo razvijaju, da primjenjuju savremene metode
rada i pod savremenim menadmentom crpe maksimum iz trinog okruenja, a i da
ekonomija regije dobije konkurentske prednosti u odnosu na druge. Ekonomska
politika vlasti u svakoj regiji preferira otvorenost regija za investiranje i poslovne
poduhvate na internacionalnoj osnovi. Tako klasteri povezuju tehnologije, industrije i
uopte ekonomije dviju regija ili ak vie regija iz vie zemalja. To moe biti u okviru
brani (metalska, drvna, tekstil, prehrana i dr.), u kojima se MSP-a razvijaju koristei
komunikacije, tehnologije i strane investicije iz drugih regija.
Cilj klastera je ostvarivanje konkurentske prednosti. Jedan od relevantnih
faktora unapreenja konkurentnosti je i geografska koncentracija. Konano, pored
geografskih (lokalnih) faktora, zakonska regulativa, ureenost i razvijenost finansijskog
trita imaju veliki znaaj za razvoj klastera. Naravno, i cijena faktora proizvodnje.
Strategije razvoja klastera su relativno ujednaene. Tamo gdje postoje razlike,
one su neznatne. Vidovi podrke iz okruenja: poreska politika, pravni okviri,
operativna administracija, uspostavljanje povoljne klime za preduzetnitvo, edukacioni
procesi, informaciona podrka i td. Svuda su priblino istog karaktera. Razlika moe
518
Klaster kao model organizacije malih i srednjih preduzea
biti npr. u viedimenzionalnosti mjera i finansijskoj snazi podrke.

Korienje saznanja o dobrim strategijama razvoja klastera u svijetu i
uspjenim rezultatima njihovog ostvarivanja doprinose da se u svim novim (bilo
specifinim ili ne) sluajevima uspostavljaju dobra rjeenja njihovog rada i razvoja.
No, i pored slinosti javljaju se i razlike u razvoju klastera. One se najee
javljaju zbog raztliitog stepena razvijenosti regija, nivoa ukljuivanja Vlada u ovaj
model razvoja malih preduzea, snage industrijske baze, kritine mase ljudi
preduzetnikog duha i zainteresovanosti nosilaca faktora okruenja uopte. U
razvijenim zemljama lokalne i regionalne vlade iniciraju razvoj klastera i u tome
uspjevaju s obzirom na dobro poznavanje ekonomskih procesa, i upravo tamo gdje su
oni nadleni, analogno tome iznalaze dobre mjere podrke ostvarivanja ciljeva. U ne
razvijenim zemljama poduhvati ove vrste preduzimaju se na nivou drave, a naroito
kada se zna da lokalne i regionalne vlasti nisu spremne podsticati razvoj klastera.
Primjera lokaliziranog klasteringa sa sinergetskim efektima za regionalnu
ekonomiju ima dosta, a najpoznatiji po uspjehu su npr.: Industriski klasteri u sjevernoj
Italiji, u paniji, Danskoj, metalski klasteri u Nemakoj i vajcarskoj i td[2].
Danski izvoznici koncentrisani su u klastere proizvoda za domainstvo
(namjetaj), klaster zdravstvenih proizvoda (lijekovi, medicinska oprema i sl.).
Zdravstveni klaster povezan je sa klasterom poloprivrednih proizvoda preko
tehnologija i sirovina.
U Italiji regionalne i lokalne vlade rade sa industrijskim asocijacijama i lokalnim
organizacijama kao to su finansijske institucije, istraivaki centri i univerziteti koji
sagledavaju sve bitne faktore pokretanja klastera i predlau modalitete njihovog
funkcionisanja. Formirani su klasteri: modnih proizvoda, namjetaja i hrane;
U Nemakoj, klasteri hemijskih proizvoda, prerade metala, transporta i
tamparija. U svakom sluaju klaster se sastoji od proizvoaa koji su konkurentni na
meunarodnom tritu u proizvodnji finalnih proizvoda, maina i opreme koji se koriste
u toj proizvodnji, specijalizovanih inputa i srodnih usluga.
Klasterizacija se javla kao rezultat sistematskog naina djelovanja faktora
konkurentnosti u okviru dijamanata.
Faktori konkurentnosti ukluuju:
(1) faktor proizvodnje,
(2) tranju,
(3) snabdjevae i povezanost grane i
(4) strategiju preduzea, strukturu trita i intenzitet konkurencije.
Porter zbog injenice da su faktori konkurentnosti vrsto povezani, ove faktore
naziva dijamantom.
Razvoj klastera privlai proizvodne resurse, tako da manje produktivnim
granama ostaje manje resursa na raspolaganju.
Tamo gdje je privreda otvorenija i domaa preduzea izloenija inostranoj
konkurenciji, klasterizacija je izraenija.
Optimalni uslovi za unapreenje konkurentnosti nastaju kada istovremeno
postoji
1. intenzivna razmjena informacija meu preduzeima (u okviru klastera) o
tranji i novim tehnologijama i
2. otra konkurencija u svakoj od grana iz klastera.
U Japanu kako je ve istaknuto, preduzea su esto umreena u velike grupe
keiretsu u ijem se sjeditu nalazi banka (npr. kompanija Mitsubishi u kojoj se nalaze
razliite kompanije specijalizovane za hemikalije, elektroniku, teku industriju,
automobilsku industriju, trgovinu i td.).
519
Sredinje mjesto u toj mrei ima banka Mitsubishi, koja igra integrativnu ulogu
svih lanica mree. Banka se, ujedno, javla kao glavni finansijer (kreditor) lanica
grupe. Ona posjeduje akcije svih preduzea u grupaciji. Japanske kompanije su
dijelovi marketinke, finansijske, informacione i snabdjevake mree keiretsu. Nena
struktura se koristi u preduzeima koja se orjentiu na ne povezane diverzifikacije,
odnosno na mjeovite strategije.
Slian model grupisanja preduzea, gdje se banke nalaze u centru, postoji u
Nemakoj. Tijesne veze izmeu preduzea iz razliitih grana ne umanjuje intenzitet
unutar granske konkurencije, niti ublaavaju otrinu pregovora izmeu kupaca i
dobavlaa to je posledica otre konkurencije.
Veze izmeu lanica klastera su jake u Japanu, Italiji i Nemakoj, dok su
slabije u Velikoj Britaniji i SAD-u[3].
U Italiji je mehanizam znatno drugaiji, ali zato nita manje efikasan. Bitan
integriui faktor su line/porodine veze. Osim toga, uspjeni izvoznici su, vrlo esto,
koncentrisani u jednom mjestu ili regiji. Italija je uspjean izvoznik u granama
grupisanim u klastere: odjee, obue, proizvoda za domainstvo (namjetaj, keramika,
aparati), hrane, pia i td. Italijanski klasteri su veoma duboki. Sastoje se od
proizvoaa finalnog proizvoda (npr. odjea), konkurentskog proizvoaa
poluproizvoda ili komponenti (npr. tkani materijal), drugih inputa (sintetika vlakna),
specijalnih maina (maine za predenje, maine za obradu koe) i pomonih usluga
(dizajn).
Na taj nain formira se grupa (klaster) u okviru kojega su grane povezane, pri
emu je svaka od njih (pojedinano) konkurentna.
U konkurentskim granama dominiraju mala i srednja preduzea, dok velika
preduzea imaju znatno manji udio u izvozu, meu dvadeset grana sa najveim
izvozom, u samo pet preovladavaju velika preduzea[3].
Cil klastera je ostvarivanje konkurentske prednosti. Jedan od relevantnih
faktora unapreenja konkurentnosti je i geografska koncentracija. Na primjer, sva tri
vajcarska farmaceutska giganta nalaze se u Bazelu, britanske aukcijske kue
koncentrisane su u svega nekoliko ulica u Londonu, izvoz nakita iz Italije koncentrisan
u dva mala regiona (preko dva miliona dolara izvoza)[2].
Razlozi zato odreeno mjesto ili region odgovaraju nekoj grani treba traiti u
prirodi dijamanata (npr. London prua najbole uslove za itav niz grana zato to se u
njemu nalaze sofisticirani kupci za veliki broj proizvoda i usluga, to ima izvrsnu
infrastrukturu i visokoobuenu radnu snagu; Italija sa skromnim prirodnim resursima
raspolae sa velikim brojem visokokvalifikovanih radnika)[2].
Programi razvoja klastera mogu se fokusirati na razne naine[2]:
Originalne klaster strategije (razvoj identifikacionog klastera; interakcije
meu lokalnim firmama), strategije koje zahtjevaju ekonomsku bazu,
sposobnu da, po dubini i irini promovie razvoj identifikovanog klastera i to
podrkom informacionim tokovima, porasta interakcije meu lokalnim
firmama, promjenama infrastrukture, razvoju ludskih resursa i td.
Transplant strategije (razvoj klastera preko atraktivnih srednjih kompanija;
jaanju veza izmeu lokalnih firmi i stranih investitora),
Hibridne klaster strategije (obrnuti klaster, umreavanje razdvojenih firmi).
Na slici 1. je prikazan primjer poslovne mree.
520
Klaster kao model organizacije malih i srednjih preduzea
Slika 1. Poslovna mrea
3 ZAKLJUCI
Kao rezultat opredjeljenja i priprema za lanstvo u EU, u Bosni i Hercegovini,
trenutno je u toku proces reformi sa ciljem usklaivanja postojeeg pravnog sistema sa
pravnim sistemom EU. Opredjeljenja su da se pravni okvir koji se gradi, uskladi sa EU i
Aktom o malom biznisu, obezbjeujui uslove da sektor MSP-a bude u vrhu prioriteta
ekonomskog razvoja, reguliui pri tom zdrave pravne okvire za osnivanje i status
preduzea, oporezivanje, dostupnost finansijskim sredstvima i prestanak rada
preduzea. Principi koji vae prilikom procesa reformi su: decentralizovana
organizacija, skromna administracija i stvaranje uslova da se obezbijedi mogunost
realizacije poslovnih interesa i inicijativa zainteresovanih subjekata - uesnika u
sektoru MSP-a.
Vrlo je vano razumijevanje pojedinih pojmova razliitih oblika preduzetnike
infrastrukture, koje su esto bazirane na znanju ili visokoj tehnologiji, a osnivaju se da
bi se stimulisao, nastanak, rast i razvoj malih i srednjih preduzea. Ne postoje precizne
i jedinstvene definicije, pa stoga ni podudaranje nije obavezno izmeu pojmova u
razliitim zemljama. Povezivanje poduzetnika, njihova saradnja, dijeljenje usluga i
opreme, odnosno njihovo umreavanje u najee klastere, takoe je uticaj rada
veine inkubatora. Poslovni inkubatori mogu povezivati javni, privatni i nauni sektor u
cilju razvoja lokalne ili regionalne zajednice. Unapreenje efikasnosti privrede i
konkurentnosti malih i srednjih preduzea je centralni cilj klasterizacije. Klu uspjenog
formiranja klastera, a samim tim i ekonomski uspjeh preduzea lanica klastera, nije
samo da iskoriste ve postojee prednosti nego i da ukljue potencijal sinergije kroz
521
mreu i strukturu klastera i da tako obezbjede dale konkurentske prednosti, te da ih

odrivo uvrste.
Konkurentnost privredne grane ili nacionalne ekonomije zavisi presudno od
inovativne moi, sposobnosti mobilizacije resursa, potencijala kreativnosti i
raspoloivog specifinog znanja preduzetnikog karaktera.
LITERATURA
[1] Bonjak, S. (2011), Poslovni inkubatori kao generatori razvoja oduzetnitva,
Praktini menadment, struni asopis za teoriju i praksu menadmenta, Vol.2
No.2, str. 51-56.
[2] Joji, R. (1987), Teorija i praksa organizacije i rukovoenja, Sarajevo
[3] Medakovi, V. (2012), Research of conditions for development of small and micro
enterprises and development of entrepreneurial infrastructure model, Doctoral
thesis, Faculty of Mechanical Engineering, East Sarajevo
[4] Porter, M. E. (1998), Clusters and the New Economics of Competition, Harvard
Business Review, p. 77-78., New York
[5] Zakon o razvoju MSP-a RS (2013), 01-916/13, NSRS
522
_____________________________________________________________________________
REKONSTRUKCIJA VENTILSKOG SISTEMA VAGON CISTERNE U

CILJU USAGLAAVANJA SA MEUNARODNIM STANDARDIMA
Predrag Petrovi1, Milan Plavi2
Rezime:Da bi vozno sredstvo moglo da saobraa na teritotiji zemalja potpisnica

COTIF (Konvencija o meunarodnom eleznikom prevozu) njegova upotreba
mora da bude u skladu sa merodavnim RID (Pravilnik za meunarodni
elezniki prevoz opasne robe) propisima. Postojee reenje ventilskog sistema
kola cisterni, namenjenih za prevoz metanola, predvialo je ugradnju jednog
dvosmernog ventila sigurnosti, to nije u skladu sa RID-om. Iz tog razloga je
morala biti izvrena rekonstrukcija ovog ventilskog sistema i, u skladu sa
najnovijim propisima RID-a i EN standardima, postojei dvosmerni ventil
sigurnosti zamenjen je sa dva vakuum ventila.
Kljune rei: eleznica, cisterna, vakuum ventil, RID, standard.
RECONSTRUCTION OF THE TANK WAGON VALVE SYSTEM IN ORDER TO

CONFORM WITH INTERNATIONAL STANDARDS
Abstract: In order to rolling stock could be in traffic in the Member States of
COTIF (Convention concerning International Carriage by Rail) its use have to be
in accordance with authoritative RID (Regulations concerning the International
Carriage of Dangerous Goods by Rail) code. Existing design of the tank wagon
valve system, intended for the transport of methanol, have a twice safety valve,
which is not in accordance with RID code. For this reason it had to be
reconstructed this valve system and, in accordance with authoritative RID and
EN standards, existing twice safety valve is changed with two vacuum valves.
Key words: Railway, Wagon, Vacuum valve, RID, Standard
_____________________________
1
dr Predrag Petrovi1, dipl. ma. ing., Nauni savetnik, Institut za optu fiziku hemiju, Studentski
trg 12, Beograd, Srbija, e-mail:mpm@eunet.rs
2
Milan Plavi, Institut Kirilo Savi, V.Stepe 51, Beograd, Srbija
523
Predrag Petrovi, Milan Plavi
1 UVOD
Zakonom o transportu opasnog tereta (Slubeni glasnik R Srbije, broj
88/2010), regulisani su uslovi za reavanje pitanja tansporta opasnog tereta prema
meunarodno potvrenim sporazumima o tehnikim propisima.
Pravna akta kojima Uprava za transport opasnog tereta vri nadzor nad njihovim
sprovoenjem su u okviru legalnih meunarodnih ugovora.
1. Evropski sporazum o meunarodnom drumskom prevozu opasne robe
(ADR).
2. Konvencija o meunarodnim eleznikim prevozima (COTIF) Dodatak C
Pravilnik o meunarodnom eleznikom prevozu opasne robe (RID).
3. Evropski sporazum o meunarodnom transportu opasnog tereta na
unutranjim plovnim putevima (ADN).
4. Aneks 18 Konvencije o meunarodnom civilnom vazduhoplovstvu
Tehnike instrukcije za siguran transport opasne robe vazdunim putem
(ICAO doc.9284-AN/905).
5. Konvencija o fizikom obezbeenju nuklearnog materijala.
Zakon posebno ureuje obaveze uesnika u transportu, sa prepoznavanjem
svih privrednih subjekta i drugih pravnih lica kao uesnika u transportu opasnog tereta.
Pojam uesnika u transportu opasnog tereta oznaava privredno drutvo, drugo
pravno lice ili preduzetnika koji je: poiljalac, prevoznik, primalac, utovara, paker,
punilac, korisnik kontejner cisterne ili prenosive cisterne, organizator transporta i
davalac usluge pretovara pri promeni vida saobraaja u transportu opasnog tereta.
Za realizaciju obaveza uesnika u transportu opasnog tereta, tehniku podrku
za sprovoenje Zakona pruaju ovlaena i imenovana tela za ocenjivanje
usaglaenosti i ovlaena i licencirana privredna drutva ili druga pravna lica koja
struno osposobljavaju razliite kategorije lica: savetnik za bezbednost u transportu
opasnog tereta, voza vozila za transport opasnog tereta, lice sa posebniom znanjima
u oblasti RID-a, ADN-a, ADR-a...[1,2]
Pod opasnom robom se podrazumeva ona roba koja pri proizvodnji, transportu,
skladitenju ili rukovanju moe tetno uticati na zdravlje ljudi ili ivotni prostor. Da bi se
pri prevozu ove robe njen tetan uticaj sveo na najmanju moguu meru doneti su
propisi koji se odnose na transport opasnih roba. Na eleznici su to RID propisi koji se
sastoje iz 7 delova (poglavlja) i to: Opti propisi, Klasifikacija, Spisak opasnih roba,
Korienje ambalae, Propisi za otpremu, Propisi za izradu i ispitivanje ambalae,
Propisi koji se odnose na uslove pevoza. [12,13]
2 UOPTENO O RIZICIMA I RIZIKU U TRANSPORTU

Da bi proces upravljanja rizikom bio to efikasniji, potrebno je precizno
definisati ciljeve upravljanja rizikom (da li je to samo ostvarenje profita ili je potrebno
obratiti panju i na zdravlje, bezbednost, ouvanje okoline, dugorona sigurnost
poslovanja...), kao i koje su zainteresovane strane (da li se proces upravljanja rizikom
uvodi samo da bi bila zadovoljena jedna strana vlasnici organizacije, ili je potrebno
obratiti panju na iru drutvenu zajednicu, porodice zaposlenih, ljude koji ive i rade u
neposrednoj blizini potencijalnih rizika. Zbog toga je vano u u upravljanj u rizicima
pronai prihvatljivu kombinaciju korelacije uzroka i posledica rizika, koja e omoguiti
akcije u cilju smanjivanja trokova, poveanja sigurnosti, zatite i otklanjanja svih
potencionalnih inioca koji mogu dovesti u pitanje normalno odvijanje funkcionisanja
sistema.
524
Rekonstrukcija ventilskog sistema vagon cisterne u cilju usaglaavanja sa meunarodnim
standardima
Identifikacija rizika je kompleksna i zasniva se na brojnim pretpostavkama, od

kojih neke mogu biti:
pravovremeno identifikovanje svih moguih vrsta rizika,
izbor onih rizika koji mogu imati posledice za normalnu realizaciju,
analiza pojedinih rizika i njihovo grupisanje po srodnosti,
posmatranje meuzavisnosti pojedinanih rizika i njihovih eventualnih
posledica,
formiranje okruenja koje neguje tradiciju timskog rada,
razvoj metoda i tehnika za eliminisanje ili ublaavanje posledi ca ispunjenja
rizika,
pronalaenje adekvatne visine sigurnosti u zatiti od rizika,
analiza istorijskih podataka o posledicama nastanka rizika,
donoenje plana zatite od rizika i mera za smanjivanje njihovih posledica
pre ispunjenja rizika,
korienje informacionog sistema i informacija iz okoline u cilju dobijanja
podataka koji mogu biti osnova za dalje analize. [11]
U svim navodima identifikacije, svakako je najtei i najneizvesniji korak u
procesu upravljanja rizikom je identifikovanja opasnosti, odnosno pojava koje sa
sobom nosi rizik, jer ne postoji jasan signal kada je proces identifikovanja zavren,
odnosno, kada su identifikovane sve opasnosti. Zbog toga ma koliko se ulazi u sutinu
identifikuja opasnosti, uvek e se ispostaviti da e postojati opasnosti koje nisu
identifikovane. Ne postoje potpuno tane i pouzdane metode identifikovanja rizika, ali
se ipak, ako je mogue, preporuuju neke, kao to su:
mogunost identifikovanja opasnosti ali ne odbacujui tanost, ali takoe
treba imati u vidu i ne gubiti vreme na bezuspene pokuaje identifikovanja
dodatnih opasnosti. Za utehu moe posluiti injenica da proces upravljanja
nikada nije zavren i da se uvek javljaju novi rizici ili eskaliraju postojei,
tako da se postupak identifikovanja rizika ponavljati vie puta.
formiranje dokumentacije, koja e precizno opisivati koje su aktivnosti ili
pojave analizirane i odakle su identifikovane opasnosti (ovo moe biti
dragoceni izvor podataka pri kasnijem preispitivanju kompletnosti ranije
sprovedene analize opasnosti),
konsultovanje svih zainteresovanih strana i dokumentovanje rezultata
predmetnog problema koji potencijalno postoji.
Za korporativno upravljanje rizicima pri projektovanju i realizaciji industrijskih
postrojenja, mainskih postrojenja, saobraajnih sredstava, neophodno je poznavati
uslove i faktore koji mogu dovesti do njihovog potencijalnog pojavljivanja. Da bi
realizacija bila to uspenija potrebno je znaajno znanje, sublimirano u obliku
multidisciplinarnih informacija koje treba sagledati i kao takve prikupiti kako bi se
donele relevantne strateke odluke.
Realizacija svakog projekta je na neki nain specifina i nosi sa sobom neto
novo, to predstavlja skup napora koji mogu da menjaju ili utiu na eventualne
promene u pogledu investiranja i realizacije industrijskih postrojenja, odnosno
mainskih postrojenja. Ocena rizika je posebno vana kod projektovanja industrijskih
postrojenja i maina zbog obezbeenja potrebnih mera bezbednosti, zdravlja
rukovaoca i radnog i ivotnog prostora i dr.
U poslednjih nekoliko godina u Srbiji se intenzivno radi na usaglaavanju
aktivnosti tehnikih proizvoda sa regulativama EU. S obzirom na politiko opredeljenje
525
Srbije, prihvatanje stavova EU pri utvrivanju tehnikih zahteva proizvoda, namee se

kao jedan logian i najcelishodniji pristup.
Kada je u pitanju meunarodni saobraaj u kojem uestvuju saobraajna
sredstva iz Srbije, bez obzira na vrstu prevoza robe i putnika (drumski, elezniki,
reni, vazduni), ista moraju da zadovolje propise Ekonomskih komisija EU. Kada je u
pitanju elezniki saobraaj u prevozu opasnih materija, u kojima se verovatnoa
pojave rizika mora svesti na minimum, na teritoriji zemalja potpisnica COTIF
(Konvencija o meunarodnom eleznikom prevozu), odvijanje prevoza mora da bude
u skladu sa merodavnim RID (Pravilnik za meunarodni elezniki prevoz opasne
robe). Zakon o transportu opasnog tereta (Slubeni glasnik R Srbije, broj 88/2010.
U kontekstu usaglaavanja sa zahtevima propisa EU, izvrena je rekonstrukcija
postojeeg reenje ventilskog sistema kola cisterni, namenjenih za prevoz metanola.
U okviru realizacije projekta pod nazivom Razvoj i primena metoda i
laboratorijske opreme za ocenjivanje usaglaenosti tehnikih proizvoda (TR 35031),
izvreno je poboljanje vagon cisterne, u skladu sa najnovijim propisima RID-a i EN
standardima, ugradnjom jednog dvosmernog ventila sigurnosti, odnosno postojei
dvosmerni ventil sigurnosti zamenjen je sa dva vakuum ventila, kako je prikazano u
delu izvetaja. [7,8]
3 POSTAVKE REKONSTRUKCIJE VENTILSKOG SISTEMA VAGON CISTERNE
3.1 Stanje pre rekonstrukcije ventilskog sistema

Na kola cisterne, koja su namenjena prevozu metanola, prvobitno je bio
ugraen jedan dvosmerni ventil sigurnosti. Kako ovakvo reenje ventilskog sistema
nije u skladu sa merodavnim RID propisima, morala je da se izvriti njegova
rekonstrukcija. Radi efikasnijeg ukljuivanja eleznice Srbije i privatnih vlasnika kola
cisterni u meunarodni saobraaj, usaglaenost sa RID propisim a se namee kao
imperativ, to je od posebne vanosti zbog transporta na teritoriji zemalja potpisnica
COTIF.
Metanol, ija je hemijska formula CH 3OH, je metil-alkohol, koncentracije
99.85%. Prema RID-u njegov identifikacioni broj je UN 1230, a oznaen brojem 336
opasnih materija, to ga svrstava u lako zapaljive (< 23C) i otrovne tene materije.
Uzimajui u obzir navedene injenice, pri rekonstrukciji se posebno vodilo
rauna o sigurnosti i onemoguavanju preventivnim postupcima mogue potencijalne
ekoloke akcidente. To praktino znai da se moralo obezbediti potpuna hermetinost
ovih cisterni, kako ne bi dolazilo do isputanja metanola u vazduh, vodu i zemlju.[4]
Pri rekonstrukciji ventilskog sistema, umesto postojeeg dvosmernog ventila
sigurnosti predviena je ugradnja dva vakuum ventila. Jedan vakuum ventila, na mestu
postojeeg dvosmernog ventila sigurnosti, a drugi, na mestu slepe prirubnice. Nakon
rekonstrukcije ventilskog sistema kola cisterni neophodno je izvriti ispitivanje njegove
funkcionalnosti prema programu ispitivanja koji mora odgovarati aktuelnim zahtevima
RID-a i EN standardima.
3.2 Opis rekonstrukcije ventilskog sistema

Dispozicioni crte kola cisterne, sa osnovnim tehnikim podacima, na kojima je
izvrena rekonstrukcija ventilskog sistema, dat je na slici 1.
526
standardima
Slika 1. Dispozicioni crte kola cisterne
Nakon rekonstrukcije ventilskog sistema vagon cisterne, nije predviena njena

prenamene, odnosno i dalje e biti u eksploataciji za prevoz metanola, iji e navedeni
osnovni tehniki podaci ostati nepromenjeni. Pri rekonstrukciji na samoj cisterni bile su
neophodne izvesne minimalne izmene zbog ugradnje vakuum ventila. Na vagon
cisterni su ugraeni vakuum ventili proizvodnje firme FORT VALE. Crte ovog ventila,
sa dimenzijama bitnim za ugradnju, prikazan je na slici 2.
Slika 2. Ventil CE89/10012A
Reenje ventila je relativno jednostavne konstrukcije, to ga ini pogodnim za

odravanje. Kada je o funkcionalnosti re ovaj ventil ispunjava sledee zahteve:
527
Podpritisak otvaranja je 0.21 bara, Minimalni protok je 120 m 3/h, Konstrukcioni protiv-
pritisak je 4 bara.
Crte ventila koji je ugraen na mestu postojeeg dvosmernog ventila prikazan
je na slici 3, gde su: vakuum ventil (1), prirubnica (2), zaptivka (3), vijak (4), podloka
(5), navrtka(6).
Slika 3. Prikaz ventila na mestu postojeeg Slika 4. Prikaz ventila na

sigurnosnog ventila mestu slepe prirubnice
Crte ventila koji je ugraen na mestu slepe prirubnice prikazan je na slici 4,

koji se sastoji iz istih komponenata kao kod postojeeg dvosmernog ventila.
3.3 Provera funkcionalnosti vakuum ventila

Testirani vakuum ventili su ispitivani na karakteristike: funkcionalnosti i
zaptivenosti. Ispitivanje funkcionalnosti izvreno je u laboratorijskim uslovima, pre
ugradnje ventila na vagon cisterni, pomou ispitne instalacije prikazane na slici 5, a
rezultati ispitivanja na slici 6. [4,5]
0,02
0,00
-0,02
-0,04
podpritisak [bar]
-0,06
-0,08
-0,10
-0,12
-0,14
-0,16
-0,18
p = -0.211 bar
-0,20
-0,22
-0,24
0 10 20 30 40 50 60 70
vreme [s]
Slika 5. Ispitna instalacija za proveru Slika 6. Dijagram funkcionalnosti

funkcionalnosti vakuum ventila ventila
Prikazana ispitna instalacija sastoji se od sledeih elementa i ureaja:Vakuum

pumpe, davaa pritiska, merno akvizicionog sistema, Lap topa, rezervoara.
Iz dijagrama funkcionalnosti vakum ventila, vidi se da je ventil zadovoljio
funkcionalne, zahteve, odnosno da je odstupanje od podpritiska otvaranja od 0.21 bar,
u prihvatljivim granicama.
Ispitivanje zaptivenosti vakuum ventila izvreno je nakon ugradnje ventila na
samoj vagon cisterni. Tom prilikom su od opreme korieni manometri mernog opsega
528
standardima
025 bara, klase tanosti 1.6.

Prikaz ventila koji je ugraen na mestu slepe prirubnice vagon cisterne, sa
mernom opremom za proveru zaptivenosti, dat je na donjoj slici 7.
Slika 6. Dijagram funkcionalnosti vakuum ventila
Po uspeno izvrenoj probi zaptivenosti, pristupilo se, u skladu sa RID

propisima, o obeleavanju vagona cisterni. [4,10]
Kod koji se upisuje na ova kola cisterne je L4BH, gde pojedini delovi koda
imaju sledee znaenje:
L-Tank za materije u tenom stanju (tene materije ili vrste materije
koje se predaju na prevoz u tenom stanju).
4(bar)-Najmanji proraunski pritisak.
B-Tank sa otvorima na dnu sa tri zatvaraa za punjenje ili pranjenje.
H-Hermetiki zatvoren tank.
4 ZAKLJUAK
Da bi se ventilski sistem kola cisterni za prevoz metanola usaglasio sa
merodavnim RID propisima neophodno je izvriti njegovu rekonstrukciju.
Ovom rekonstrukcijom su, prema merodavnim propisima RID-a i EN standardima,
umesto postojeeg dvosmernog ventila sigurnosti ugraena dva vakuum ventila.
Zahvaljujui tome je domaim vlasnicima kola cisterni omoguena njihova
eksploatacija u meunarodnom eleznikom saobraaju, odnosno na teritoriji zemalja
lanica COTIF.
ZAHVALNOST
Ovaj rad je uraen u okviru projekta Razvoj i primena metoda i laboratorijske
opreme za ocenjivanje usaglaenosti tehnikih proizvoda (TR 35031), finansiranog od
strane Ministarstva prosvete, nauke i tehnolokog razvoja Republike Srbije, 2015-
2016. godine.
529
LITERATURA
[1] Slubeni glasnik Republike Srbije, (2010), broj 88/2010.
[2] RID 2009; EN 12972:2007; EN 12266-1:2003.
[3] Tehnoloki opis rekonstruisanog ventilskog sistema vagon cisterni za prevoz
metanola serije 796, (2010), Institut Kirilo Savi, Beograd.
[4] Izvetaj o ispitivanju funkcionalnosti vakuum ventila,(2010), Institut Kirilo
Savi,Beograd.
[5] Izvetaj o ispitivanju zaptivenosti kola cisterne za prevoz metanola,(2010), Institut
Kirilo Savi, Beograd.
[6] Tehnika uputstva i katalozi FORT VALE-a.
[7] Petrovi P.: (2009), Tehnike specifikacije interoperabilnosti trans- evropskih
eleznikih sistema, International journal Total Quality Management &
Excellence, N0 1-2, Vol.37, str. 409-414.
[8] Petrovi P.:(2009), Interoperabilnost sistema konvencionalnih eleznica,asopis
IIPP, Mainski fakultet, Beograd, br.23/24, str.7-14.
[9] Petrovi P., Jevti M., Petrovi M.:, (2012)Interoperability in trans-european
railway transport, 20th Inter. Sym. Euro-el, ilina, R.Slovacia, p.196-201.
[10] Petrovi P., Marija Petrovi, Vukmirovi S., Petrovi .: (2014)Railway traffic in
sustainable environmental development and energy efficiency, XVI Scientific-
expert conference on railways RAILCON 14, Ni, Serbia, University of Ni,
Faculty of Mechanical Engineering, p.85-88).
[11] Petrovi Marija, Velimirovi Ana, Petrovi P., Petrovi Mina:(2014) Upravljanje
projektnim rizicima, (UASQ EQW 2014,18th Inter. Annual YUSQ Conference
National Strategy for Quality Improvement, Novi Sad, Fakultet tehnikih nauka,
p.21-27.
[12] Petrovi P., Petrovi Marija, Velimirovi Ana, Petrovi Mina:(2014) Filozofski
pristup riziku i upravljanje projektnim rizicima, 2nd Inter. Scientific Conference,
COMETa 2014., Jahorina, B&H, Faculty of Mechanical Engineering Technologies
and Applications, p. 669-679.
[13] Petrovi P., Petrovi Marija, Velimirovi Ana, Petrovi Mina: (2014) Korporativno
upravljanje projektnim rizicima, IV, Me. konf. Od krize prema razvoju,
Univerzitet za poslovne studije, Banja Luka, Ekonomija, str.55-66.
530
________________________________________________________________________________________________
STUDENT SESSION
_____________________________________________________________________________
APPLICATION OF REVERSE ENGINEERING

IN FORMULA STUDENT CAR DEVELOPMENT
Andreja Milovanovi1, Milan Blagojevi2, Aleksandar Miljkovi3
Abstract: Car for Formula Student competition is built from self-manufactured and
purchased components with none provided documentation. In this paper, the process of
reverse engineering of ready-made purchased component is presented on example of
brake caliper body. Triangle mesh or STL file represented as-built geometry of 2 main
casted parts is obtained using 3D scanner ATOS. Based on geometry comparison of
these parts, it has been determined that functional surfaces and openings coincide with
respective entities on both parts with the accuracy of about 0.05 mm. Reconstruction is
performed for union of all geometric entities of both parts. Verification of deviations is
performed in order to determine equality of digitized and reconstructed CAD model. Due
to assembly is made by casting, approximations of the position of individual entities
during reconstruction do not affect significantly on deviation field of generated parts.
Simultaneously, the function of holes for connecting with other elements of the assembly
(upright), are preserved.
Key words: braking system, formula student, model reconstruction, reverse engineering,
3D digitization
1 INTRODUCTION
Formula SAE is an international engineering competition for undergraduate and
graduate students [1]. Main goal of this competition is to apply classrooms theories and
to enhance engineering and project management skills. Engineering goal is to develop
single-seat race car for the non-professional weekend autocross race with the best
overall package of design, construction, performance and cost [2-4]. Competition
consists of four disciplines: acceleration test, suspension test, fastest lap test and
endurance test. Competition Formula SAE is held every year in: USA, Australia, Brazil,
Italy, Great Britain, and Germany. Besides Fin Racing team, at the Balkan there are
teams that are competing for years across Europe like a team Road Arrow Belgrade,
1 Andreja Milovanovi, student, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,

(andreja9955@gmail.com),
2 Milan Blagojevi, PhD student, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
(blagoje@kg.ac.rs),
3 Miljkovi Aleksandar, student, University of Kragujevac, Faculty of Engineering, Kragujevac, Serbia,
(amiljkovic@gmail.com)
531
Milovanovi Andreja, Blagojevi Milan, Miljkovi Aleksandar
FESB Split Racing Team, FS Racing Team Mostar and others.

In order to keep up with global trends, Fin Racing Team is founded in the Faculty
of Engineering, University of Kragujevac [5]. Project of this team, Formula Student, has
been initaded before 3 years ago. About 35 students from different departments, mostly
from the final years, have worked on formula design. Through the work on a this project
the students have developed their skills in design, 3D modeling, analysis using finite
element. They have also managed their skills in the field of logistics and marketing.
Faculty of Engineering has supported the project with its human and material resources
helping to develop the first formula student car.
For Formula Student competiotion detailed CAD model of car is required. More
accurate CAD model brings additional points in project evaluation [6]. Each component,
ready-made purchased or designed and manufactured by our team, would have its own
3D model. CAD models of ready-made purchased components are created using
reverse engineering.
2 MATERIALS AND METHODS

Reverse engineering (RE) or back engineering is the process of converting
existing physical geometry into digital product development environments [7,8]. In
contemporary computer-aided design (CAD) applications, RE has become standard
method of creating a 3D virtual model of an existing physical part. The RE process
involves measurement of an object and 3D model reconstruction. 3D scanning
technologies (CMMs, laser scanners, structured light digitizers, or computed
tomography (CT Scanning)) are employed to capture geometry of a physical objects.
Based on measuring data a set of NURBS surfaces or a CAD model are generated. In
this paper, the process of reverse engineering brake caliper is presented.
2.1 3D digitizer
3D scanning is an efficient, fast and accurate process of gaining data of the
measurements of a physical object. We have used the top-of-the-range 3D scanning
systems produced by the German measurement experts GOM [9]. Optical mesuring
system ATOS, produced by GOM, offers a fast, accurate, repeatable method for 3D
scanning items ranging in size between 5mm and 20metres (TRITOP). 3D scanning
using the GOM ATOS scanning system involves preparing the item by making sure it is
clean and placing a series of unncoded markers on and around the object to be scanned.
Twin cameras within the 3D scanning system capture high density surface
measurements from a fringe projection of light which is cast onto the object for scanning
(Figure 1). The measured data is represented as a point cloud. It does not contain
topological information and is processed into triangular-faced mesh [10].
(a) (b)
Figure 1. 3D digitizing: (a) measuring proces, (b) fringe paterns projected on object
532
Application of Reverse Engineering in Formula Student Car Development
(a) (b)
Figure 2. Models obtained by 3D digitizing:

(a) lower part of assembly, (b) upper part of assembly
2.2 The methodology to obtain CAD model

Brake caliper body consists of two parts, which do not differ considerably.
Geometry comparison of the upper (UPA) and lower part of the assembly (LPA) is
performed and deviation field is determined using software GOM Inspect [10] (Figure 3).
All functional surfaces and openings on UPA coincide with respective entities on LPA
with the accuracy of about 0.05 mm. It had been decided to carry out reconstruction only
for UPA as union of all geometric elements for UPA and LPA.
(a) (b)
Figure 3. Deviation of UPA in reference to LPA
Brake caliper body is symmetric so the coordinate system is placed to the center
of part using software GOM Inspect (Figure 4). Because of this fact, only half of the
533
model is reconstructed.
Reconstruction of the model is performed using software Geomagic Design X
[11]. Before the beginning of the reconstruction it is necessary to establish in what way
the part is produced and to define which segments are important for the modeling.
Casting slopes (=3 ) and radii (r=2mm) are also considered.
The first step in construction of model was making of mesh regions with a tool
Region Group (Figure 5). Region Group tool shows regions on the scanned part which
represents basic geometric entities (planes, cilinders, cones, ...). All construcions are
driven by mesh and sketches. The part is made by casting, so it is possible to make
approximation in terms of the position of individual entities during reconstruction.
Because the function of connecting with other elements of the assembly (upright), hook
points are locked.
Figure 4. Coordinate system definition
Figure 5. Region Groups shows regions on the scanned part which can bi
approximated with basic geometric entities
534
Cylinder is made with same position as well as cylinder region on the scanned
part with a tool Primitives. Cone is defined around cylinder with a tool Extrude Merge
(Figure 6a). Cone dimensions are determined with mesh regions. Because of casting
slope cone is drafted with an angle of 3 degrees. Around cone half of part body is made,
without front cylinder (Figure 6b). Back side of part is cutted with tool Extrude Cut and
dimensions of cutted area are obtained with intersection of the system plane and
scanned part (Figure 6c). On back side of model ribs are placed with Sweep tool (Figure
6d). To get ribs dimensions two angled cylinders are made and their center axis. Plane
is placed normal to cylinder axis and in that plane sketch is made for the ribs. Then
Sweep tool is used to get rib. Down side of model is cutted with Extrude Cut tool.
Because of different depth of model it is done with several different sketches (Figure 6e
and Figure 6f). Hole for connection with upright is places at same position as first cylinder
(Figure 6g). With Mirror tool half of body is mirrored relative to system symmetry plane
(Figure 6h). On down side of model center hole is placed with Extrude Cut tool (Figure
6i). Center hole position is on the mirror plane and it is located to 22 mm in relation to
origin. This dimension is measured with Smart Dimension tool. On front side of model
center cone is made concentric to center hole (Figure 6j). Center cone is tangent to base.
On down side hole is made which was connected with fluid flowing part (Figure 6k). For
connection with master cylinder, master cylinder connection with hole is made (Figure
6l). Casting radii and fillets are placed at all edges.
3 RESULTS
Using described method CAD model of lower part of assembly is obtained
(Figure 7). Cutting off part of this CAD upper part model is obtained (Figure 8). Figure 9
shows the brake caliper body assembly.
In order to perform verification of deviations in software GOM Inspect, the
resulting CAD models are exported as a STEP file. Surface comparison drawn on CAD
modes of LPA and UPA are shown in Figure 10. Deviation amplitude is ranked from -1.2
mm up to 0.9 mm for LPA, and from -2.5 mm up to 1.9 mm for UPA. Hook points
deviations are under 0.05 mm. The errors greater than 1 mm are caused by errors in
casting mold preparation (concentricity between cones and holes was not respected).
On obtained 3D model concentricity is respected which caused the deviation.
4 CONCLUSION
3D scanner serves as a convenient solution for gathering CAD data from
components without provided documentation. Scanning of parts provides invaluable
informations required to create CAD data. Due to assembly is made by casting,
approximations of the position of individual entities during reconstruction do not affect
significantly on deviation field of generated parts. Simulteniously, the function of holes
for connectiio with other elements of the assembly (upright), is preserved. Models
generated using presented procedure in folowing steps are used in CAD, CAM, CAE.
The aim of Fin Racing Team is not only to create the student formula but also to
empower students for future work and provides a good practical foundation for further
development. We want that after creating our formula, we go towards improving all the
systems and keeping up with global trends. This method is just one of the tools that helps
us to do that.
535
(a) (b) (c)
(d) (e) (f)
(g) (h) (i)
(j) (k) (l)

Figure 6. The methodology to obtain CAD model:
(a) cone definition, (b) base definition, (c) cutting of , (d) ribs creation, (e), (f) model
shape definition, (g) hole definition, (h) miror, (i) ceter hole modeling, (j) center cone
definition, (k), hole definition (l) modeling of master cilender connection, fillet and
536
chamfer denitions
(a) (b)
Figure 7. CAD model of LPA
(a) (b)
Figure 8. CAD model of UPA
(a) (b)
Figure 9. CAD model of brake caliper body assembly
537
(a) (b)
Figure 10. Deviation of reconstructed CAD models in reference to digitized meshes:
(a) LPA, (b) UPA
ACKNOWLEDGMENT
This research was supported by Faculty of Engineering, Ministry of Education,
Science and Technological Development (under grant 32036), Regional Chamber of
Commerce Kragujevac, City of Kragujevac and numerous companies.
REFERENCES
[1] The SAE International Formula SAE program,
http://students.sae.org/cds/formulaseries/about/, accesed on 15. 10. 2016.
[2] Bolton Works Jumpstarts Formula SAE Racecar with Geomagic Software,
https://www.youtube.com/watch?v=izxfvhA6J2U, accesed on 08. 10. 2016.
[3] Varady, T; Martin, R; Cox, J (1997). Reverse engineering of geometric modelsan
introduction. Computer-Aided Design. vol. 29, no 4 p.p. 255268.
doi:10.1016/S0010-4485(96)00054-1
[4] 2017 Formula SAE Rules, Version 1.0 27. 10. 2016
[5] Fin Racing Team, http://finracingteam.rs/, accesed on 31. 10. 2016.
[6] Jannis D.G. van Kerkhoven (2008). Design of a Formula Student Race Car Chassis,
Masters thesis,Technische Universiteit Eindhoven, Eindhoven.
[7] Salzano A., Klang E., Design Analysis and fabrication of Formula SAE chassis,
2009, Wolfpack motorsports, College of Engineering North Carolina state
university.
[8] Bill, K.H.: Design and construction of the brake systems for the 'Formula Student'-
Racing Cars BRC08 / BRC09, Fortschr.-Ber. VDI Reihe 12 Nr. 728. Dsseldorf:
VDI Verlag 2010, ISBN 978-3-18-372812-1, ISSN 0178-9449, S. 210-250
[9] GOM, http://www.gom.com/, accesed on 31. 10. 2016.
[10] GOM Software 2016, Inspection Basic, 0000000031_008_EN_01-07-2016
[11] Geomagic Design X, http://www.rapidform.com/products/xor/overview/, accesed on
31. 10. 2016.
538
_____________________________________________________________________________
ANALIZA STATIKOG PONAANJA SKLOPA GLAVNOG VRETENA

JEDINICE PINOLE PRIMJENOM ANSYS SOFTVERA
Marijana Krajinik1
Rezime: Primjenom MKE i korienjem Ansys softvera, u ovom radu je izvrena statika
analiza realnog (fizikog) sklopa glavnog vretena, koji je dio modula radne jedinice pinole i
koji se nalazi na Departmanu za proizvodno mainstvo Fakulteta tehnikih nauka u Novom
Sadu. U radu je napravljeno vie razliitih modela oslonaca (leaja) ija krutost odgovara
poznatoj krutosti leaja, zatim je izvrena statika analiza dobijenog modela a potom i
poreenje dobijenih rezultata sa rezulatima dobijenim eksperimentalnim putem. Pod
statikom analizom ovdje se podrazumijeva odreivanje pomijeranja vrha vretena,
optereenog aksijalnom i radijalnom silom, u aksijalnom i radijalnom pravcu.
Kljune rijei: Ansys, MKE, modelovanje krutosti oslonaca, statika analiza

ANALYSIS OF STATIC BEHAVIOR OF SET OF THE MAIN SPINDLE UNTIL QUILL BY
USING ANSYS SOFTWARE
Abstract: Applying of MKE and using Ansys software, in this work it has been made a static
analysis of real (phisical) set of main spindle, which is a part of working unit quill module and
which can be found on Department for manufacturing mechanical engineering of Faculty of
technical science in Novi Sad. In this work it has been made more different models of
supports (bearings) which rigidity fits to known rigidity of bearings. After that, it has been
made static analysis of obtained model and comparing between obtained results and results
got on experimental way. Under these analysis it implies assessment displacement of top of
the spindle, which is loaded by axial and radial force, in axial and radial direction.
Key words: Ansys, MKE, modeling of rigidity of the support, static analysis
1 Dipl. in. Marijana Krajinik, Univerzitet u Istonom Sarajevu, Mainski fakultet, marijanakrajisnik@gmail.com
539
Marijana Krajinik
1 UVOD
Cilj ovog rada je statika analiza sklopa glavnog vretena metodom konanih
elemenata i korienjem Ansys programskog sistema. Pod sklopom glavnog vretena,
podrazumijeva se glavno vreteno oslonjeno na dva para prstenastih kuglinih jednoredih
leaja sa kosim dodirom, tipa 7008 CDGA i 7011 CDGA, ije su krutosti pri malom, srednjem
i velikom prednaprezanju date od strane proizvoaa, kao i same vrijednosti malog, srednjeg
i velikog prednaprezanja. (Tabela 1, Tabela 2).
U radu se razmatra modelovanje krutosti oslonaca na tri razliita naina a potom se
vri poreenje dobijenih rezultata sa rezultatima dobijenim eksperimentalnim putem. [1]
2 STRUKTURA MODULA RADNE JEDINICE
Slika 1. Izgled modula radne jedinice (jedinice pinole)
1. glavno vreteno, 2. pinola, 3. aura pinole, 4. elementi nosee strukture, 5. pogonski

elektromotor, 6. prenosnik za glavno kretanje
Modul radne jedinice pinole prikazan je na slici 1. Glavno vreteno je uleiteno na

dva oslonca. Za prednje uleitenje koristi se par kuglinih jednorednih konvencionalnih
leaja, sa elinim kuglicama, SKF 7011 CDGA, a za zadnje uleitenje par leaja SKF 7008
CDGA. Izgled sklopa glavnog vretena dat je na slici 2.
Slika 2. Sklop glavnog vretena [2]
1. glavno vreteno, 2. distantna aura, 3. prednje uleitenje, 4. zadnje uleitenje, 5.

pinola, 6. aura pinole
540
Analiza statikog ponaanja sklopa glavnog vretena jedinice pinole primjenom Ansys softvera
Tabela 1. Krutost uleitenja [1]

Prednaprezanje
malo srednje veliko
prednji zadnji prednji zadnji prednji zadnji
oslonac oslonac oslonac oslonac oslonac oslonac
A B A B A B
Radijalna krutost
400 280 560 387 690 475
Aksijalna krutost
69 48 115 82 170 120
Tabela 2. Vrijednosti aksijalnih sila prednaprezanja [3]
Prednaprezanje
Leaj
malo srednje veliko
7008 CDGA zadnji
120 N 240 N 480 N
oslonac
7011 CDGA
300 N 600 N 1200 N
prednji oslonac
3 DEFINISANJE RAUNARSKOG MODELA

Za glavno vreteno, distantnu auru i kotrljajna tijela (kuglice) primjenjen je tvovorni
konani element, dok su za leaje i distantne prstenove korieni etvorovorni konani
elementi. Izabrana je srednja gustina mree - medium mesh, broj vorova je 447737, a broj
konanih elemenata 144423.
Slika 3. Postavljanje kontaktnih parova za prednje i zadnje uleitenje
Kontaktni parovi prikazani su na slici 3. a spoljanja optereenja (Fr=3000N,

Fa=6000N) na slici 4.
Slika 4. Postavljanje optereenja
541
Marijana Krajinik
Slika 5. pokazuje definisana ogranenja na sklopu glavnog vretena. Povrina "A"

ograniena je u pravcima Z i Y ( =0, =0 Displacement 1), a povrina "B" ima ogranienje
u pravcu X-ose ( =0 Displacement 2). Za vrstu prorauna izabrana je deformacija
(Directional Deformation) glavnog vretena u pravcu Y-ose pri djelovanju radijalne sile i u
pravcu X-ose pri djelovanju aksijalne sile.
Slika 5. Definisanje graninih uslova
4 STATIKI PRORAUN SKLOPA GLAVNOG VRETENA JEDINICE PINOLE

Prvi nain modelovanja krutosti oslonaca (slika 6.) podrazumijeva da se krutost
leaja zadaje pomjeranjem leaja, u aksijalnom i radijalnom pravcu, pri dejstvu sila
prednaprezanja.
Na osnovu poznatih vrijednosti, aksijalnih sila prednaprezanja (Tabela 2.) i kontaktnog
ugla , odreuje se sila prema obrascu (1):
(1)
Radijalna sila prednaprezanja rauna se po obrascu (2):

(2)
Aksijalno pomjeranje obrasac (3):
(3)
Radijalno pomjeranje obrasac (4):
(4)
Primjenom prethodno navedenih jednakosti, dobijamo vrijednosti pomjeranja fa i fr.
Rezultati su dati su u Tabeli 3.
Tabela 3. Vrijednosti aksijalnog i radijalnog pomjeranja leaja usljed prednaprezanja
Prednaprezanje
malo srednje veliko
prednji fa (mm) 0,0043 0,0052 0,0070
oslonac fr (mm) 0,0027 0,0039 0,0064
zadnji fa (mm) 0,0025 0,0029 0,0040
oslonac fr (mm) 0,0015 0,0023 0,0037
542
Deformacija usljed dejstva Fr=3000N Deformacija usljed dejstva Fa=6000N

malo prednaprezanje malo prednaprezanje

srednje prednaprezanje srednje prednaprezanje

veliko prednaprezanje veliko prednaprezanje
Slika 6. Deformacije glavnog vretena pri malom, srednjem i velikom prednaprezanju

(I nain modelovanja krutosti)
543
Marijana Krajinik
Drugi nain modelovanja krutosti podrazumijeva da su uleitenja zamjenjena sa

oprunim konanim elementima COMBIN14. (slika 7.)

srednje prednaprezanje srednje prednaprezanje

veliko prednaprezanje veliko prednaprezanje
Slika 7. Deformacije glavnog vretena pri malom, srednjem i velikom prednaprezanju

primjenom konanog elementa COMBIN14 (II nain modelovanja krutosti)
544
Trei nain modelovanja krutosti oslonaca (slika 9.) isti je kao prethodno opisan, s tim
da se krutost ne rasporeuje linearno na kotrljajna tijela, odnosno konani element
COMBIN14, nego prema modelu koji je razvijen u okviru istraivanja [4]. (slika 8.)
Slika 8. Podjela krutosti kotrljajnih tijela [4]

Slika 9. Deformacija glavnog vretena pri malom prednaprezanju

(krutost kotrljajnih tijela podjeljena na osnovu slike 8.) (III nain modelovanja krutosti)
Tabela 4. Rezultati deformacije vrha vretena za malo, srednje i veliko prednaprezanje pri
djelovanju radijalne sile Fr=3000N
Deformacija vrha vretena pri dejstvu radijalne sile Fr=3000 N
I model sa II model sa III model sa
konanim elementima elementima Eksperiment
elementima COMBIN14 COMBIN14 (mm)
(mm) (mm) (mm)
malo
0,021426 0,029546 0,029183 0,035
prednaprezanje
srednje
0,020847 0,022496
prednaprezanje
veliko
0,020271 0,019163
prednaprezanje
545
Marijana Krajinik
Tabela 5. Rezultati deformacije vrha vretena za malo, srednje i veliko prednaprezanje pri
djelovanju radijalne sile Fa=6000N
Deformacija vrha vretena pri dejstvu aksijalne sile Fa=6000 N
I model sa II model sa III model sa
konanim elementima elementima Eksperiment
elementima COMBIN14 COMBIN14 (mm)
(mm) (mm) (mm)
malo
0,020087 0,090336 0,052883 0,059
prednaprezanje
srednje
0,013771 0,055554
prednaprezanje
veliko
0,01314 0,038675
prednaprezanje
5 ZAKLJUAK
Rezultati deformacije vrha vretena za II nain modelovanja krutosti, pri djelovanju
radijalne sile Fr=3000 N (Tabela 4.), su najpribliniji eksperimentalnim ispitivanjima.
Eksperimentalno je dobijena deformacija 0,035 mm, to je relativno priblino sa modelom II,
odnosno deformacijom od 0,029 mm (greka od 16%). Vrijednosti pomjeranja vrha vretena,
za II i III nain modelovanja krutosti su slini to dokazuje opravdanost primjene konanih
oprunih elemenata COMBIN14.
Ako se posmatra aksijalno optereenje (Tabela 5.), zapaa se da su vrijednosti
deformacije III modela najpriblinije eksperimentalnim ispitivanjima (greka 11%). Meutim,
matematikim proraunom, vrijednost deformacije iznosi priblino 0,086 mm a to je
najpriblinije II modelu (greka 4%).
Kod prvog modela, u sluaju kako radijalnog tako i aksijalnog optereenja, odstupanja
u odnosu na eksperiment su najvea. Razlog za to je sloena geometrija sklopa, a samim tim
i mrea konanih elemenata, veliki broj kontaktnih parova i ogranienja.
LITERATURA
[1] Zeljkovi, M. (1996). Sistem za automatizovano projektovanje i predikciju ponaanja

sklopa glavnog vretena maina alatki, Doktorska disertacija, Fakultet tehnikih nauka,
Novi Sad.
[2] Koarac, A., Zeljkovi, M., Mlaenovi, C., ivkovi, A. (2014). Numerical-experimental
identification of a working unit module dynamic characteristics. VIII International
Conference Heavy Machinery-HM 2014, Zlatibor, 25-28 June 2014.
[3] http://www.skf.com/binary/12-129877/13383-EN---Super-precision-bearings.pdf,
[4] Pataki, D., ivkovi A., Zeljkovi M. (2009). Analiza statikog ponaanja kuglinih leaja
sa kosim dodirom. Zbornik radova Fakulteta tehnikih nauka, Novi Sad, Br. 3, 2009, str.
772-775, ISSN 0350-428X.
546
_____________________________________________________________________________
RAZVOJ KONSTRUKCIJE AUTONOMNOG ROBOTA KOJI PRATI

LINIJU
Aleksandar Tomovi1, Marko Mumovi2, Vasilije Samardi3, Vuk Vujoevi4,
Marko Raovi5
Rezime: U ovom radu je prikazana konstrukcijska razrada robota, nain funkcionisanja,

kao i nain podeavanja parametara senzora i softverski kod koji omoguava kretanje
autonomnog robota koji prati liniju.
Kljune rijei: Programiranje, robot, senzor, motor, linija
DEVELOPMENT OF CONSTRUCTION OF AN AUTONOMOUS LINE FOLLOWER

ROBOT
Abstract: In this paper is presented constructive development of a robot, the way of
working, as well as settings of sensors parameters and software code which provides
movement of automatic line following robot.
Key words: Programming, robot, sensor, motor, line
1 UVOD
Mehatronika je nauka koja predstavlja novu metodologiju za izradu
kompleksnih modernih tehnolokih proizvoda. Moderan tehnoloki proizvod predstavlja
spoj mehanikih i elektronskih dijelova koji zahtijeva sistemski pristup, a ne
pojedinanu izradu sastavnih podsistema. Robotika predstavlja multidisciplinarnu
oblast, koja je tipino mehatronika. Prilikom realizacije nekog zadataka u oblasti
robotike, potrebno je posjedovati znanja iz oblasti mainstva, elektronike i
programiranja. Danas roboti nalaze primjenu u svim oblastima industrije i ivota, od
onih koji se koriste u naune svrhe, do nekih koji se prave radi zabave.
Na Mainskom fakultetu u Podgorici, formiran je tim koji je imao zadatak da
razvije rjeenje za autonomnog robota koji prati liniju. Robot je izabran na osnovu
1Student, Aleksandar Tomovi, Mainski fakultet, Podgorica, Crna Gora,

aleksandartomovic.tomovic67@gmail.com
2
Student, Marko Mumovi, Mainski fakultet, Podgorica, Crna Gora, markomumovic@gmail.com
3 Student, Vasilije Samardi, Mainski fakultet, Podgorica, Crna Gora, vanja.mika@t-com.me
4 Student, Vuk Vujoevi, Mainski fakultet, Podgorica, Crna Gora, vukvujosevic7@gmail.com
5 Student, Marko Raovi, Mainski fakultet, Podgorica, Crna Gora,markorasovic2@gmail.com
547
Aleksandar Tomovi, Marko Mumovi, Vasilije Samardi, Vuk Vujoevi, Marko Raovi
discipline Line Follower takmienja RobotChallenge, i izlagan je u okviru Dana mladih

istraivaa.
2 LINE FOLLOWER DISCIPLINA

RobotChallenge je jedno od najveih internacionalnih takmienja za
autonomne i mobilne robote, koje se odrava od 2004. godine. Postoji veliki broj
disciplina koje se organizuju na ovome takmienju, jedna od njih je i Line Follower.
Zadatak robota, u okviru ove discipline, je da prati crnu liniju koja se nalazi na bijeloj
podlozi. Cilj robota je da za to krai vremenski period pree naznaeni put. U tabeli 1.
prikazana je lista zahtjeva i elja, robota koji prati liniju, od kojih su neki zahtjevi fiksni, i
ne smije biti odstupanja, a drugi su tolerisani. Zahtjevi su sadrani u okviru pravila
takmienja RobotChallenge.
Tabela 1. Lista zahtjeva robota koji prati liniju

LISTA ZAHTJEVA
FIKSNI TOLERISANI ELJE
Autonoman rad robota Dimenzije robota: do
Jednostavna konstrukcija
300x300 [mm]
Maksimalna teina: do 3 kg Dobra pokretljivost
Vea brzina robota
3 KONSTRUKCIJSKA RAZRADA ROBOTA

Robot je napravljen od dijelova iz seta Lego Mindstorms NXT. Prilikom izrade
konstrukcije koritene su lego kocke, 2 servo motora, 2 light senzora, kao i NXT
mikrokontroler sa kojega je robot imao napajanje.
Lego Mindstorms NXT predstavlja drugi set Lego Mindstorm kolekcije, koji je
dizajniran od strane Lega. Set se sastoji od NXT mikrokontrolera, senzora razliite
namjene (senzor za boju, za zvuk, ultrasonini senzor..) servo motora, kao i kockica
razliitih oblika i veliina, tokova, itd. NXT predstavlja mikrokontroler koji se sastoji od
4 ulazna porta za senzore, 3 izlazna porta za motore, kao i porta za USB prikljuak, i
prikazan je na slici 1.
Slika 1. NXT mikrokontroler

548
Razvoj konstrukcije autonomnog robota koji prati liniju
Light senzori detektuju refleksiju jaine svjetlosti bijele podloge i crne linije, i
alju signal NXT mikrokontroleru, koji na osnovu dobijenih podataka zapoinje kretanje
robota. Na slici 2, prikazani su servo motori koji pokreu tokove, kao i light senzor koji
detektuje boje iz Lego Mindstorms seta.
(a) (b)
Slika 2. Servo motori i light senzor

Slika 3 prikazuje strukturnu varijantu autonomnog robota koji prati liniju, odnosno nain
odvijanja procesa prilikom kretanja robota.
Signalizacija podloge Senzori detektuju refleksiju svjetlosti boje podloge i
alju signal za poetak kretanja
Kretanje Robot poinje da se kree, crna linija se nalazi izmeu 2 senzora
Detektovanje linije Nakon to senzor detektuje liniju alje signal za
odreivanje smjera kretanja
Kretanje - Ukoliko senzori nisu detektovali liniju robot nastavlja da se kree
pravo
Gasi lijevi motor Ukoliko je lijevi senzor detektovao liniju, lijevi motor se
gasi i robot poinje skretanje
Gasi desni motor Ukoliko je desni senzor detektovao liniju, desni motor se
gasi i robot poinje da skretanje
Ciklus kretanja se nastavlja nakon to senzor detektuje liniju, sve dok oba senzora ne
detektuju crnu liniju to oznaava kraj puta.
Slika 3. Strukturna varijanta autonomnog robota koji prati liniju
549
Na slici 4 prikazana je konstrukcija autonomnog robota koji prati liniju.
Slika 4. Line Follower
4 PROGRAMIRANJE
Za programiranje ovog robota upotrebljen je program RobotC, nakon ega je
softverski kod bio upload-ovan na NXT mikrokontroler, preko USB kabla ili Bluetooth-a.
RobotC predstavlja program koji je baziran na C programskom jeziku sa
Windows okruenjem za pisanje i debagovanje programa. Predstavlja kros-platformu
koja omoguava studenima da naue programiranje bazirano na C jeziku koji se koristi
u svrhe vieg obrazovanja i profesionalnih aplikacija. U okviru programa nalaze se
dodatne ekstenzije programskog jezika koje imaju specijalnu namjenu za robotsku
upotrebu. Dodatni alati za debagiranje omoguavaju korisniku da u realnom vremenu
vidi stanje svih motora i senzora. RobotC ima isti oblik, esto i iste komande imena kao
i profesionalni aparati koji se koriste kod drugih sistemima.
4.1.1 Definisanje motora i senzora, i kalibracija Light senzora

Prije pokretanja programskog koda potrebno je izvriti definisanje motora i
senzora, kao i kalibraciju light senzora. Definisanje motora i senzora predstavlja
dodjelu NXT porta. Motori se definiu na izlaznim portovima, dok se senzori deginiu
na ulaznim senzorima. Kalibracija light senzora se vri prije svakog pokretanja robota
zbog promjene refleksije svjetlosti boje. Na slici 5, predstavljen je nain definisanja
motora i senzora, kao i kalibracije light senzora.
550
Razvoj konstrukcije autonomnog robota koji prati liniju
Slika 5. Definisanje motora i senzora, i kalibracija light senzora
4.1.2 Programski kod

U programskom kodu definisane su zasebne funkcije za kretanje naprijed,
skretanje lijevo, skretanje desno, i zaustavljanje. Unutar svake funkcije zadavana je
odgovarajua vrijednost brzine motora, koja se moe podeavati. Na slici 6 prikazan je
programski kod koji je pisan u programskom jeziku RobotC.
Slika 6. Programski kod
551
5 ZAKLJUCI
Za rijeavanje konstrukcijskog problema robota koriteni su djelovi iz seta Lego
Mindstorm. Set Lego Mindstorm omoguava studentima laku izradu konstrukcija
razliite namjene, kao i upotrebu senzora za razliite svrhe, kao to su senzori daljine,
ultrasonini senzori, svjetlosni senzori, senzori boje, itd, prilikom pravljenja robota. NXT
mikrokontroler koji se nalazi u sklopu seta, omoguava veoma laku i brzu razmjenu
podataka sa kompjuterom putem bluetooth-a, i nije komplikovan za rad. Najpogodniji
program za pisanje koda prilikom upotrebe NXT mikrokontrolera je RobotC. RobotC je
baziran na C programskom jeziku, tako da prilikom pisanja programskog koda
potrebno je poznavanje samo programskog jezika C.
LITERATURA
[1] ukanovi, M., Mijanovi Marku, M., Gavrilovski, V., Jovanova, J., (2012).Uvod u
Mehatroniku, Univerzitet Crne Gore, Mainski fakultet, Podgorica.
[2] RobotChallenge Line Follower Rules,
https://www.robotchallenge.org/fileadmin/user_upload/_temp_/RobotChallenge/Re
glement/RC-LineFollower.pdf, pristupljeno 30.10.2016.
[3] RobotC,
http://www.robotc.net/download/, pristupljeno 30.10.2016.
552
_____________________________________________________________________________
ROBOT ETA NA BAZI JANSENOVOG MEHANIZAMA

Marko Mumovi1, Aleksandar Tomovi2
Rezime: U ovom radu su prikazane prednosti hodajuih mehanizama u odnosu na

maine sa tokovima, kinematika razrada hodajueg mehanizma, kao i uticaj
odreenih parametara na njegov ravnomjeran rad.
Kljune rijei: hodanje, mehanizam
WALKING ROBOT BASED ON JANSEN MECHANISM

Abstract: In this paper are presented advantages of a walking mechanism in
comparison with wheeled machines, kinematic analysis of the walking mechanisms as
well as the effect of certain parameters on its performances.
Key words: mechanism, walking
1 UVOD
Maine se odlikuju usmjerenim fizikim procesima, izazvanim ovjekovim
znanjem ili htijenjem, s ciljem da slue kao sredstvo u razliitim procesima
podmirivanja ovjekovih potreba i elja.
Sloenost maine kao sistema ide od najprostijih maina kao to je poluga do
logikih i raunskih maina i inteligentnih robota.
Savremeni razvoj tehnike namee potrebu detaljnog poznavanja mehanikog
sistema u toku rada, sa stanovitva kinematike, dinamike i sinteze sistema. Nauka koja
se bavi ovim pitanjima je teorija mehanizama i maina.
Strukturna analiza mehanizama ima za cilj da sistematizuje i klasifikuje
elemente i djelove mehanizma kao i same mehanizme u cilju jednostavnije dalje
analize i sinteza.
Mehanizam se definie kao sloena mehanika struktura sastavljena od vie
meusobno spojenih tijela, tako da omoguavaju njihovo uzajamno kretanje.
Realizacija kretanja jeste osnovni zadatak koji mehanizmi obavljaju u mainama.
1 Student, Marko Mumovi, Mainski fakultet, Podgorica, Crna Gora, markomumovic@gmail.com

2Student, Aleksandar Tomovi, Mainski fakultet Podgorica, Crna Gora,
aleksandartomovic.tomovic67@gmail.com
553
Marko Mumovi, Aleksandar Tomovi
U zavisnosti od pravca ose obrtanja lanova mehanizme moemo podijeliti na:

Ravne - ose obrtanja su paralelne, lanovi mehanizma kreu se u
meusobno paralelnim ravnima
Sferni - sve ose obrtanja sijeku se u jednoj taki, a kretanje lanova
mehanizma vri se u koncetrinim kalotama
Prostorne - ose obrtanja se mimoilaze, a lanovi mehanizma realizuju
prostorno kretanje
2 JANSENOV MEHANIZAM
Ovo je hodajui mehanizam koji spada u grupu ravanskih mehanizama.
2.1 Prednosti hodajuih mehanizama u odnosu na maine sa tokovima

Hodajue maine posjeduju nekoliko prednosti u odnosu na maine sa
tokovima pri kretanju po promjenljivom terenu. Posmatrajmo toak koji se kree
konstantnom brzinom V. Svaka taka na njegovom obimu se kree konstantnom
brzinom V, u pravcu tangente na krivinu toka Slika 1 (a).
(a) (b)
Slika 1. Poreenje odziva toka i noge na lokalni maksimum na terenu

Isprekidana linija predstavlja obim toka i krivu koju opisuje noga pri kretanju.
Strelice pokazuju smjer kretanja toka i noge. Noga moe direktno preskoiti prepreku,
a toak mora prei preko nje
Hodajui mehanizam koji bi se mogao uporediti bi se kretao konstantnom
brzinom V, i njegova noga bi opisivala slinu krunu putanju pri konstantnoj brzini V
u svim takama putanje Slika 1 (b). Oigledna prednost noge u odnosu na toak je ta
to noga moe prei preko promjena na terenu. Lokalni maksimumi i minimumi mogu
biti potpuno izbjegnuti prelaenjem preko njih. Rezultat ovoga je manji utroak energije
pri kretanju i odravanje konstante brzine i visine pri prelasku preko promjena na
terenu.
Posmatrajmo sluaj kada sistemi sa nogom i tokom prelaze prepreku koja ne moe
biti zaobiena Slika 2. Kada ivica toka doe u dodir sa visoijim terenom on
primorava brzinu tijela da se automatski smanji. Ova ivica ima ukupnu brzinu V, ali je
samo mali dio te brzine u horizontalnom pravcu (x osa) pa tijelo naglo usporava od
brzine V do brzine Vx2. Noga naizlazi na slinu promjenu u brzini, ali ona ima prednost
da klizi po povrini. Iako ovaj scenario nije idealan, klizanje noge preko podignutog
terena smanjuje promjenu brzine u horizontalnom pravcu. Ipak, oba modela moraju
prei barijeru u potencijalnoj energiji uzrokovanom visinom terena.
554
Robot eta na bazi Jansenovog mehanizama
(a) (b)
Slika 2. Prelazak preko prepreke koja ne moe biti zaobiena
Prednosti hodanja u odnosu na kotrljanje po neravnom terenu su:
vea energetska efikasnost, ekonominiji utroak goriva
vea brzina
vea pokretljivost
vea izolacija od promjena terena
manje oteenje terena.
2.2 Hodajui mehanizmi bazirani na koljenastom vratilu

Glavna odlika ovakvih mehanizama je to, to dio mehanizma koji se rotira
moe biti zakaen na bregastu osovinu, to omoguava njegovo lako okretanje Slika 3.
Noga mehanizma je dio mehanzima koji dolazi u direktni kontakt sa podlogom. Kako
se koljenasto vratilo okree noga ocrtava krunu liniju u odnosu na tijelo mehanizma.
Ova linija je poznata kao lokus.
Koljenasto
Nepokretni oslonac vratilo
Noga
Slika 3. Smjer kretanja noge po lokusu i smjer okretanja vratila su oznaeni strelicom.
Nepokretni oslonac u odnosu na tijelo mehanizma je oznaen crnim kvadratom.
555
Lokus moe biti podijeljen u etiri dijela:

1. Oslanjanje
2. Podizanje
3. Vraanje
4. Donje faze
Vraanje
Vraanje
e
Visina Donje
koraka Podizanje
faze
Oslanjanje
Slika 4. Teoretski prikaz lokusa. Strelice oznaavaju

smjer kretanja noge po lokusu.
Kroz fazu oslanjanja noga je idealno u dodiru sa podlogom.

Tokom faze podizanja noga se kree ka maksimalnoj visini na lokusu.
Tokom povratka noga dostie maksimalnu visinu iznad podloge i kree se u
istom pravcu kao tijelo mehanizma.
U donjim fazama noga se sputa, dok ne stupi u kontakt sa podlogom.
Visina koraka je visina na kojoj se nalazi noga u odnosu na podlogu kada doe
u donje faze.
2.2 eljene odlike hodajueg mehanizma

Lokus mora imati konstantnu brzinu tokom faze oslanjanja.Dok su noge
mehanizama u kontaktu sa podlogom njihovo ubrzanje u odnosu na tijelo je idealno
nula. Iz ovoga slijedi da je ubrzanje mehanizma u odnosu na podlogu takoe nula.
Ispunjenjem ovog uslova smanjuje se ansa da doe do klizanja jedne ili vie nogu
tokom ciklusa kretanja. Idealna brzina noge u odnosu na podlogu tokom ciklusa
kretanja je nula. Ubrzavanje i usporavanje tijela mehanizma tokom ciklusa kretanja je
veoma energetski zahtijevno, i mora biti dovedeno u najmanju moguu mjeru.
Koljenasto vratilo mora imati konstatnu ugaonu brzinu tokom itavog ciklusa
Poto su noge mehanizma fazno pomjerene koljenastim vratilom vano je da
koljenasto vratilo ima nulto ubrzanje tokom cijelog ciklusa kretanja. Ovo e omoguiti
da se sve noge kreu jednakom brzinom i ubrzanje u svakoj taki lokusa. Ubrzavanje i
usporavanje koljenastog vratila mehanizma tokom ciklusa kretanja je takoe veoma
energetski zahtijevno, i mora biti dovedeno u najmanju moguu mjeru.
Inercijalne sile i momenti inercije na koljenastom vratilu moraju biti
balansirani tokom cijelog ciklusa
Energija koja je potrebna za podizanje bi trebala biti povraena sputanjem
556
Uparivanje faza podizanja i sputanja nogu e poveati energetsku efikasnost i

smanjiti napone na koljenastom vratilu.
Odnos trajanja faze oslanjanja u odnosu na kompletan ciklus je vee ili
jednako od 0,5.
Prostorna duina faze oslanjanja (duina koraka) mora biti duga u odnosu
dimenzije kompletnog mehanizma
Mehanizam mora prei najveu moguu duinu po utroenoj jedinici energije.
2.3 eljene karakteristike lokusa

Posmatrajmo koordinatni sistem lokusa Slika 5 gdje je pravac kretanja x osa, a
vertikalni pravac y osa.
Y - osa
Pravac kretanja
X - osa
Slika 5. Prikaz lokusa u ravni
Ako uzmemo jednostavan sluaj gdje brzina noge tangentna na putanju lokusa
ostaje konstantna, onda moemo uzeti da je x komponenta vektora brzine noge na
teren VFTx. Suma x komponenti vektora brzine mehanizma u odnosu na teren VWTx i
noge u odnosu na mehanizama VFWx.
VFTx= VWTx+ VFWx (1)
Kada je noga u fazi oslanjanja njena brzina u odnosu na podlogu je nula: V FTx=0
Onda u toku faze oslanjanja imamo relaciju
VWTx=- VFWx (2)
Ovo znai da tokom faze oslanjanja brzina mehanizma u odnosu na teren i

noge u odnosu na mehanizam imaju jednak intenzitet, a suprotne smjerove.
557
Pet teoretskih lokusa prikazani su na slici.
Slika 6. Teoretski oblici lokusa
Svaki od njih je napravljen od jedinstvene kombinacije faza. Faza podizanja i

sputanja su vane za razmatranje zbog njihovog uticaja na brzinu i ubrzanje, na
poetku i kraju faze oslanjanja. Takoe, donja faza odluuje o visini koraka
mehanizma. Oblik faze vraanja nije vaan, ali bi morao imati minimalno ubrzanje i
maksimalnu simetriju, kako bi inercijalne sile na koljenastom vratile bile lake
balansirane.
Simetrija lokusa a znai da e inercijalne sile na vratilu biti najmanje mogue.
Njegove faza podizanja i sputanja su nalik onoj kao kod toka. Ipak zbog male duine
faze oslanjanja, ovo nije veoma efikasan hodajui mehanizam.
Lokusi na slikama b i c zahtijevaju veliku koliinu ubrzanja na svojim otrim
krajevima. Lokus b je naroito nepovoljan zbog svoje male visine koraka. Moe imati
problema pri prelaenju preko nepravilnosti na terenu i izazvati klizanje ako stupi u
kontakt sa terenom tokom sputanja.
etvorougaoni lokus na slici e ima fazu podizanja i sputanja veoma brzo to
zahtijeva beskonano ubrzanje na poetku i kraju faze oslanjanja u cilju da dostigne
konstantnu brzinu kroz fazu oslanjanja. Takoe, ako bi noga stupila u kontakt sa
lokalnim maksimum terena tokom sputanja dolo bi do klizanja mehanizma.
Lokus d je idealan lokus. Ima simetriju i fazu podizanja kao toak i donje faze
lokusa a sa duom fazom oslanjanja kao lokus e.
3 ZAKLJUAK
U planu je izrada ovog mehanizma na waterjet maini. Njeno pokretanje bi se
omoguilo upotrebom dva step motora, kojima bi se upravljalo Arduino
mikrokontrolerom. Ovakav robot bi se uz dodavanje senzora mogao prepraviti u robota
koji se koristio u razne svrhe. Model ovog robota je prikazan na slikama 7 i 8.
558
Slika 7. Model robota prikaz sa strane
Slika 8. Model robota prikaz u prostoru

559
LITERATURA
[1] Martinovi R., Mehanizmi i dinamika maina, Univerzitet Crne Gore, Mainski
fakultet, Podgorica.
[2] Theo Jansen, Great Pretender
[3] The Design and Optimization of a Crank-Based Leg Mechanism, Amandan Ghassaei,
Professors Phil Choi and Dwight Whitaker, Pomona College Department of Physics and
Astronomy, April 20, 2011.
560
_____________________________________________________________________________
MOGUNOST EFIKASNOG GRIJANJA I SNADBJEVANJA

POTRONOM TOPLOM VODOM STAMBENOG OBJEKTA
KOMBINACIJOM DVA OBNOVLJIVA IZVORA ENERGIJE
Miladin Janji1, Nemanja Grahovac2
Rezime: Solarna energija je oduvijek obeavala da e postati idealan izvor energije.

Najei nain iskoritavanja solarne energije u domainistvima je pomou solarnih
toplotnih sistema sa kolektorima. Primjena ovih sistema u domainstvima omoguava
grijanje prostora i potrone tople vode (PTV). Solarna energija u odreenom periodu
nije dovoljna za zagrijavanje prostora i PTV-e.to je sluaj kod svih solarnih sistema
koji mogu da pokriju maksimalno 80% potrbne toplotne energije na godinjem nivou. U
ovome radu dat je osvrt na taj problem kao i predlog reenja pomou drugog
obnovljivog izvora energije, prikazana je mogunost da se kombinovanjem ta dva
izvora toplotne energije ostvari potpuno efikasan sistem proizvodnje PTV-a i grijanja
stambenog prostora.
Kljune rijei: Geotermalna energija, Toplotna pumpa, Solarni kolektor
POSSIBILITY OF EFFICIENT HEATING AND SUPPLYING DOMESTIC HOT WATER

RESIDENTIAL BUILDING WITH A COMBINATION OF TWO RENEWABLE
ENERGY SOURCES
Abstract: Solar energy has always promised to be an ideal source of energy. The most
common way of utilizing solar energy in household is using solar thermal systems with
collectors. The application of these systems in households provides space heating and
domestic hot water (DHW).If solar energy in creatian periodis not enoughfor heating
DHW like its case with all solar systems wich can cover maximum 80%of required
heating energy per year for mitesof consumable hot water, We should look for another
solution. In this paper, the attention is given on that problem and suggestion for
solution with help of another alternative source of energy. It is shown posibiity that with
combining those two sources of energy, there can be achieved complitly efficient
system of producing DHW.
Key words: Geothermal energy, Heat pump, Solar collector
1 Dipl. In. Ma., Miladin Janji, SWISSLION doo Trebinje, miladin.janjic@hotmail.com

2 Dipl. In. Ma.,Nemanja Grahovac, doo Termo-elektro Brko, neca.grahovac@hotmail.com
561
Miladin Janji, Nemanja Grahovac
1 UVOD
Razvojem novih tehnologija, rastom broja stanovnitva, te njihovom aktivnou
ivot na Zemlji se u posljednih 50-tak godina uveliko promjenio. Sve to uzrokuje velike
potrebe za energijom, najveim udjelom konvencionalne, bez koje se dananji nain
ivota nemoe ni zamisliti, ona je sveprisutna, od industrije, saobraaja, poljoprivrede,
graevinarstva kao i u domainstvima i dok postoje dovoljne zalihe energije koja se
moe iskoritavati velika veina potroaa nee razmiljati o tome da bi u budunosti
moglo doi do pomanjkanja konvencionalnih oblika energije, njihova poskupljenja i
velikih posljedica po okoli.
Da bi se sprijeio takav razvoj dogaaja potrebno je promijeniti svijest ljudi prema
potronji energije i odnosu prema prirodi te pokazati da svako svojim postupcima moe
doprinjeti .Najbolji nain da se to postigne je koritenje obnovljivih izvora energije kao
to su energija sunca, geotermalna,energija vjetra ili kombinacijom nekih od njih.
2 DOBIJANJE PTV-E I VODE ZA GRIJANJE STAMBENOG PROSTORA
2.1 Dobijanje PTV-e pomou solarnih kolektora

Dobijanje tople vode za domainstva najjednostavniji je i najraireniji oblik
iskoritavanja energije sunevog zraenja jer je efikasan, trai relativno mala ulaganja i
jer je topla voda potrebna tokom cijele godine. Potronja tople vode zavisi od godinjeg
doba, navika i kulture stanovanja, standarda ivljenja, klimatskih prilika. Kod
najednostavnih solarnih sistema nosilac toplote preuzima apsorbovano sunevo
zraenje u kolektoru i predaje ga vodi u akumulacijonom rezervoaru preko izmjenjivaa
toplote, koji se sastoji od cijevi savijenih u spiralu radi bolje izmjene toplote i
zauzimanja manjeg prostora. Elektrini grija i izmjenjiva toplote za dogrijavanje
kotlom se nalaze u gornjem dijelu rezervoara jer se topla voda nakon zagrijavanja oko
izmjenjivaa solarnog kruga die prema gornjim dijelovima rezervoara, te je na taj
nain najhladnija voda uvijek u donjem dijelu rezervoara u podruju oko izmjenjivaa
solarnog kruga to omoguuje rad kolektora pri niim temperaturama nosioca toplote,
odnosno veu efikasnost u radu. Najednostavniji sistem dobijanja PTV-prikazan je na
Slici.1 gdje se vidi nain spajanja solarnog kolektora sa akumulacionim rezervoarom.
Slika 1. ematski prikaz spajanja solarnog kolektora za pripremu PTV-e
562
Mogunost efikasnog grijanja i snadbijevanja potronom toplom vodom kombinacijom dva
obnovljiva izvora energije
2.1.1 Solarni sistemi za grijanje prostora

Uz pripremu potrone tople vode solarni se sIstemi koriste i za grijanje prostora
u vidu niskotemperaturnog sistema grijanja kao to je podno ili zidno grijanje. Sistemi
koji su namijenjeni i zagrijavanju PTV-a i grijanju prostora zahtijevaju veu povrinu
kolektora i veu zapreminu rezervoara. Kod takvih se sustava javljaju problemi vika
prikupljene energije u ljetnim mjesecima a nedovoljna toplotna energija zimi zbog
manje insolacije to stvara potrebu za dodatnim sistemom grijanja. U tu svrhu
primjenjuju se konvencionalni izvori energije koji slue za dogrijavanje PTV-e i tople
vode za grijanje stambenog prostora. Na slici 2. prikazan je sistem pripreme PTV-e i
tople vode za grijanje u kome se kao alternativni odnosno dopunski izvor toplotne
enrgije koristi kotao koji kao enrgent moe da koristi bilo koji od konvencionalnih izvora
energije.
Slika 2. Prikaz eme kombinovanog sistema pripreme tople vode sa jednim obnovljim i
jednim konvencionalnim izvorom energije
3 TOPLOTNE PUMPE
Toplotne pumpe, su ureaji koji dovode energiju (toplotnu), s nieg na vii
temperaturni nivo, uz dodatnu energiju (rad) ljevokretnim krunim procesom s
odgovarajuim medijem.
Za svoj rad zahtijevaju dva toplotna rezervoara:
toplotni izvor: prostor ili medij nieg temperaturnog nivoa od kojeg se toplota
odvodi
toplotni ponor: prostor ili medij vie temperaturne razine kojem se toplota
dovodi
Rad toplotne pupe zasniva se na oduzimanju niskotemperaturne toplote iz
okoline i predaji iste drugom mediju, najee vodi, koja se zatim koristi za grijanje
prostora ili sanitarne vode. Dobijena toplota rezultat je termodinamikog procesa, a ne
izgaranja goriva kao kod klasinih sistema grijanja. Kako je ve reeno, proces
prenosa toplote obavlja se po ljevokrunom termodinanikom procesu, uz prijenos
563
toplote s nieg na vii temperaturni nivo, naravno uz dovoenje energije, rada, spolja
(kompresorom), uz strujanje
prikladnog radnog medija.
Savremene toplotne pumpe na elektrini pogon dobijaju oko 3/4 toplote
potrebne za grijanje iz okoline, a preostala etvrtina je elektrina energija koja se koristi
za pogon kompresora. Iz omjera predane toplote grijanja (ukljuujui toplotu
kompresora koja nastaje iz dovoda struje) i utroene elektrine energije, dobija se
koeficijent uinka (H= R+ 1=(Qok/Wel)+1=3+1= 4), koji opisuje efikasnost toplinske
pumpe (slika 3). Koeficijent uinka toplotnih pumpi moe se definisati kao koliina
toplotne energije u dulima (J) koja se dobije za potrebe grijanja nekog prostora
dobijene na raun jednog dula (J=Wh) uloenog rada kompresora, taj se uinak,
faktor grijanja, kree od 3 od 5.
Slika 3. Toplotni uinak toplotne pumpe
3.1 Toplotne pumpe zemljite voda

Temperatura Zemlje tokom godine je prilino ujednaena, na oko 2 m iznosi od
7 do 13 C, pa predstavlja dobar rezervar toplote, ta se toplota moe iskoristiti
postavljanjem zemnih horizontalnih kolektora ili vertikalnih sondi (slika 4.). Akumulirana
toplota, u horizontalnim kolektorima ili vertikalinim sondama, se putem medija u
primarnom krugu (voda + sredstvo protiv smrzavanja) prenosi do isparivaa gdje se
toplota predaje vodi u sekundarnom krugu, krugu grijanja koje najee podno
(niskotemperaturno).
Slika 4. Iskoritenje zemljine toplote pomou horizontalnih kolektora i vertikalnih

geotermalnih sonda
Kod horizontalnih se kolektora polau plastine cijevi na dubinu od 1,2 do 1,5

m. Pojedinane sekcije cijevi, sve iste duine, ne smiju biti due od 100 m radi
564
Mogunost efikasnog grijanja i snadbijevanja potronom toplom vodom kombinacijom dva
obnovljiva izvora energije
previsokih padova pritiska kao i prevelike snage dvodne pumpe i istih protoka.
Pomou rada pumpe rastvor struji cijevima te pritom oduzima toplotu iz zemlje.
Koliina upotrbljive toplote i povrina koju cijevi pokrivaju zavisi od karakteristika
zemlje i atmosferskih
prilika. Svojstva provoenja i akumulacije toplote su vea ako ima vie vode i minerala
te ako je manja poroznost zemlje. Uinci oduzimanja za zemlju se kreu od 10 do 35
W/m.
Kod instalacija sa zemnim sondama je bitna dubina i raspored sondi. U
izbuene rupe se postavljaju sonde te se zatim prostor izmeu sonde i zemlje
ispunjava punilom. Najee se postavljaju 4 paralelne sonde, 4 cijevi U oblika.
Preduslov za postavljanje sondi je poznavanje karakteristika podloge, raspored
slojeva, otpor podloge, postojanje podzemnih voda sa odreivanjem koliine vode i
njenog strujanja. Sredji uinak pri normalnim hidrogeolokim uslovima po metru sonde
iznosi oko 50 W, a zavisno od faktora provoenja toplote , tipa podloge kao i uticaja
vode taj uinak se moe bitno razlikovati. Cijevi horizontalnih kolektora i vertikalne
sonde se prikljuuju na sabirnik rastvora, odnosno na polazni i povratni vod. Rastvor
struji od povratnog voda kroz cijevi ili sonde kroz zemlju, tamo podie svoj toplotni
nivo dolazi do polaznog voda od kojeg struji prema isparivau gdje predaje toplotu
rashladnom mediju sekundarnog kruga (vodi) te se tako ohlaena vraa u povratni
vod sabirnika cijevi.
4 DOBIJANJE PTV-A I TOPLE VODE ZA GRIJANJE UZ POMO DVA

OBNOVLJIVA IZVORA ENERGIJE
U svim gore navedenim primjerima pripremePTV-a i tople vode za grijanje
pojavljuju se odreeni nedostatci. Pod tim nedostatcima naroito mislimo na
neefikasnost samostalnog rada solarnog sistema, koji tek potpomognut
konvencionalnim izvorima energije moe da obezbjedi dovoljnu koliinu energije za
proizvodnju PTV-a i tople vode za grijanje. Na slici 5. prikazan je solarni sistem za
potrebe pripreme tople vode sa dodatnim grijanjem. Razlika naspram sistema sa slike
2. je u izvedbi rezervoara toplote kao i u nainu dobjanja energije pomonog grijanja.
Ovdje se koristi rezervoar za vodu iz sistema grijanja koji u sebi imaju jedan manji sa
PTV-om. Manji rezervoar izmjenjuje toplotu sa vodom iz vanjskog rezervoara koja se
indirektno zagrijava kolektorima preko izmjenjivaa u donjem dijelu rezervoara. U
gornjem dijelu spremnika nalazi se izmjenjiva pomonog izvora toplote (npr. toplotna
pumpa).
Princip rada sistema sa slike je sledei: Sunce zagrijava apsorber u kolektoru a
samim tim i solarni fluid koji u njemu cirkulie te se fluid putem cirkulacione pumpe
prenosi do dojnjeg izmjenjivaa rezervoara, u kojem se preko izmjenjivaa zagrijava
sanitarna voda. Solarna automatika ukljuuje pumpu u solarnom krugu uvijek kada je
temperatura u kolektoru vea od one u donjem dijelu spremnika. Iz manjeg rezervoara,
koji je u solarnom spremniku uronjen u kotlovsku vodu, ( vodu za grijanje prostora )
koristimo sanitarnu vodu. Kod potrebe za grijanjem prostora zagrijana voda od
suneve energije iz donjeg dijela spremnika odlazi u sistem centralnog grijanja (
podno, zidno, radijatorsko ). Dodatni izvor za dogrijavanje ukoliko Sunca nema
dovoljno je geotermalna toplotna pumpa. Kombinovanje ova dva obnovljiva izvora
energije dobija se pouzdano i efikasno grijanje prostora i dobijanje PTV-e.
565
Slika 5. Sistem za pripremu PTV-e i tople vode za grijanje u kombinaciji dva obnovljiva
izvora energije
5 ZAKLJUAK
Ovaj rad imao je za cilj da pokae mogunost izbjegavanja koritenja

konvencionalnih izvora energije u pripremi PTV-e kao i tople vode za grijanje prostora,
a samim tim i doprinos ouvanju ivotne sredine kao i velikom smanjenju trokova
prosjenog domainstva. Kao alternativa konvencionalnim izvorima nude se obnovljivi
izvori energije. Osnovna mana koritenja obnovljivih izvora energije za manja
domainstva je njihova neefikasnost u odredjenim periodima zbog zavisnosti od
atmosferskih prilika. Meutim koritenjem kombinacije dva razliita obnovljiva izvora
energije koji se meusobno nadopunjuju dobijamo efikasan sistem koji je u mogunosti
u svakom trenutku proizvesti dovoljnu koliinu toplotne energije za potrebe
domainstva. Mana ovog sistema grijanja su neto vea poetna ulaganja, koja se kroz
par godina eksploatacije vraaju viestruko.
LITERATURA
[1] Majdandi Lj. : Solarni sustavi, Graphis, Zagreb, 2010.
[2] uteri, V.:Geotermalna energija, Mainski fakultet, 2009., Kragujevac
[3] http://www.deltaterm.com/toplotne%20pumpe.pdf, Pristupljeno 20.09.2016
[4] http://www.energetika-net.com/ Pristupljeno 16.09.2016
566
_____________________________________________________________________________
PROCES PREIAVANJA OTPADNIH VODA

Mirjana Jokanovi1, Jovana Pajki2
Rezime: Kao najosnovniji izvor ivota, voda se nemilice troi i zagauje. Veliki broj
zemalja preduzima opsene mjere i ulae velika sredstva, kako bi se zaustavilo
zagaenje i u prirodu vratila ista, nezagaena voda. Cilj preiavanja je dobijanje
iste vode, a kao nusproizvod, pri tretmanu, nastaje otpadni mulj. ista voda se vraa
u prirodu, a otpadni mulj se alje na dalji postupak obrade. Postoje tri osnovna
postupka preiavanja i to: mehaniki, bioloki i hemijski. U radu je analiziran proces
preiavanja otpadnih voda.
Kljune rijei: cilj preiavanja, otpadne vode, postupci preiavanja, proces

preiavanja, zagaenje.
THE WASTEWATER PURIFICATION PROCESS
Abstract: As the most important life sourse, the water is relentlessly used and polluting,
as well. A lot of countries take comprenhensive measures and invest in order to stop
the pollution and bring clean, unpolluted water back to nature. The goal of the
putification is gaining clean water and as a nusproduct, in the treatment, occurs
sewage sludge. Clean water is coming back to the nature and sewage sludge is sent to
the further process procedure. There are three basic purification methods: mechanical,
biological and chemical. This paper analyzes the process of wastewater treatment.
Key words: pollution, purification goal, purification method, purification process,

wastewater.
1 UVOD
Dananji svijet se ekstremno i enormno razvija na svim podrujima, a naroito
na polju tehnologije. Sve to za posljedicu ima razvoj naselja i poveanje broja
stanovnika, to uslovljava zagaenje ovjekove okoline, a meu najtee oblike spade i
zagaenje voda. Ubrzanim i poveanim razvojem poveava se i potronja vode, to
uzrokuje i porast koliina otpadnih voda.
Kvalitet ivota na Zemlji u budunosti umnogome e zavisiti od koliine
1 Dipl. in. Mirjana Jokanovi, Mainski fakultet, Istono Sarajevo, BiH, jokanovic.mirjana1@gmail.com
2 Dipl. in. Jovana Pajki, Mainski fakultet, Istono Sarajevo, BiH, jovana.pajkic@gmail.com
567
Mirjana Jokanovi, Jovana Pajki
ispravne vode. Danas u nekim razvijenim i nerazvijenim dijelovima naselja, odnosno

gradova, ne postoji izgraena kanalizacija, ve se odvodnja rjeava individualno,
ispustima u cestovne jarke, a dio izvedenih kanalizacija ulijeva se direktno u
vodotokove. Odvodnja fekalnih voda dijelom je rijeena septikim jamama. Oborinska
odvodnja rijeena je pomou otvorenih oborinskih cestovnih kanala. Veina ovih
kanala je zamuljena, tako da je smanjen proticajni profil, pa nakon kinih razdoblja
dolazi do taloenja estica, to uzrokuje cestovne problem i irenje smrada. Drugi
nain odvodnje oborinskih voda jeste separatna atmosferska kanalizacija, koja
oborinske vode odvodi u vodotokove [2].
Pri kvalitetnom obavljanju komunalne djelatnosti odvodnje i
preiavanja otpadnih voda nuno je pristupiti izgradnji cijelog sistema odvodnje, te
naroito ureaja za preiavanje otpadnih voda.
U ovom radu dat je teoretski opis pojma otpadnih voda, proces preiavanja
istih, te analiza postojeeg stanja u preduzeu Vodovod a.d. Trebinje.
2 OTPADNE VODE
Voda je osnovni preduslov za ivot svih ivih bia na Zemlji. Zbog toga ona
mora imati prirodan hemijski sastav i karakteristike. Kada se, usljed ovjekovog
djelovanja, znatno promijeni hemijski sastav vode, kao i odnosi koji u njoj vladaju,
kaemo da je voda zagaena.
Vijekovima su ljudi u vodu bacali svoj otpad. Danas vodu zagauje i vodeni
saobraaj, ubriva i pesticidi sa obradivih povrina, rastvarai, deterdenti iz
domainstava i fabrika, kao i metali iz industrijskih procesa (npr. olovo i iva). Svi ovi
zagaivai nalaze svoj put do rijeka i preko njih dolaze do mora, to ilustruje slika 1.
Slika 1. Zagaivanje vode [3]
Zagaujue materije dospjevaju do vode direktnim i indirektnim putevima.

Direktni oblici zagaivanja podrazumijevaju formiranje posebnih otpadnih voda u koje
ovjek ubacuje tetne materije i koje, po pravilu, direktno izlijeva u rijene tokove. Voda
se indirektno zagauje u procesu spiranja tetnih hemijskih materija u zemljitu. Na
tom putu one prelaze u podzemne vode, odakle procesima prirodnog kruenja vode
sigurno dolaze do rijeka, jezera i mora.
Otpadne vode predstavljaju mjeavinu raznih, vodom noenih, oneienja. To
je ustvari upotrijebljena voda iz naselja i industrije. Tanije, otpasnim vodama nazivaju
568
Proces preiavanja otpadnih voda
se vode koje su promijenile svoj prvobitni sastav, unoenjem tetnih materija, ija
prisutnost uzrokuje promjenu fizikih, hemijskih, biolokih ili bakteriolokih
karakteristika vode, zbog ega se ne mogu koristiti u poljoprivredi, niti u bilo koje druge
svrhe.
Stepen zagaenja ogleda se u koliini tetnih materija koje voda nosi sa
sobom. Ukoliko tetne materije potiu iz industrije, govori se o industrijskim otpadnim
vodama, a ukoliko dolaze od urbanih sredina i domainstava, govorimo o komunalnim
otpadnim vodama.
2.1. Vrste otpadnih voda
Kao to je prethodno navedno, otpadne vode su odreene fizikim, biolokim i

hemijskim svojstvima. Razlikuju se 4 vrste otpadnih voda, iji opis slijedi.
2.1.1 Sanitarne otpadne vode
Nastaju na sanitarnim vorovima stambenih, javnih, industrijskih i drugih

objekata gdje ive i rade ljudi, koji u fiziolokom procesu uzrokuju zagaenja u tenom
ili vrstom obliku. Slino je i sa domaim ivotinjama koje se uzgajaju na farmama i
slinim mjestima. U ove vode takoe ubrajamo i otpadne vode od ienja prostorija,
spremanja hrane, pranja posua i rublja, odravanja higijene, itd. Koliina sanitarnih
otpadnih voda zavisi od specifine potronje vode, pa je jednaka ili manja od nje 10%
[4].
2.1.2 Industrijske otpadne vode
Nastaju u fabrikama i industrijskim pogonima nakon upotrebe vode u procesu

proizvodnje, kao i prilikom pranja aparata, ureaja, itd. Danas postoji veliki problem po
karakteru razliitih industrijskih otpadnih voda, koje se dijele na niz podtipova u
zavisnosti od tehnologija proizvodnje.
2.1.3 Oborinske otpadne vode
Ove vode formiraju se kao povrinski oticaj od padavina ili topljenog snijega sa
urbanog podruja. U ove vode se ubrajaju i otpadne vode od pranja ulinih povrina,
trotoara i sl. Koliina i kvalitet ovih otpadnih voda zavisi od intenziteta i uestalosti
padavina, od naina odravanja javne higijene, od broja i intenziteta saobraaja, vrste
povrinske obrade terena i prometnih povrina, zagaenja atmosfere, klimatskih
uslova, i sl.
2.1.4 Procjedne (podzemne) vode
Procjedne otpadne vode su podzemne vode koje dotiu u kanalizacijsku mreu

preko cijevnih spojeva, drenanih sistema i sl. Po kvalitetu ove otpadne vode su
najistije, meutim velike koliine mogu poremetiti bioloko preiavanje na
postrojenjima.
569
3 PREIAVANJE VODE
Za proces preiavanja vode koriste se [4]:

mehaniki,
bioloki i
hemijski postupci.
3.1 Mehaniki postupci
Mehaniki postupci zasnivaju se na uklanjanju fizikih neistoa vode i na

principu djelovanja fizikih sila (gravitacija, pritisak). Koji e se postupak primjeniti
zavisi od karakteristika otpadne vode i traenog stepena preiavanja. Mehanike
metode preiavanja vode sastoje se od uklanjanja makro i mikrosuspendovanih
estica iz vode, organskog i anorganskog porijekla. U tu svrhu koriste se [4]: reetke i
sita, taloenje, flotacija, filtriranje, centrifugiranje, talonici za pijesak, hvatai masti,
primarni talonici i bazeni za izjednaavanje protoka.
3.2 Hemijski postupci
Hemijskim procesima preiavanja nazivamo procese u kojima se

preiavanje obavlja pomou odreenih hemijskih reakcija ili odreenih fiziko-
hemijskih fenomena. Po pravilu, to su aditivni procesi, tj. unose se hemikalije u vodu
da bi se uklonilo zagaenje. To dovodi do poveanja rastvorenih materija u vodi, to je
nepovoljno ukoliko se tako preiene otpadne vode ponovo koriste. Hemijski procesi
preiavanja obino su skupi, meutim za uklanjanje pojedinih definisanih zagaenja
otpadnih voda hemijski postupak nema alternative. Osnovni postupci hemijskog
preiavanja otpadnih voda jesu uklanjanje pojedinih rastvorenih materija [4]:
hemijskim taloenjem, jonskom izmjenom, oskidacijom, produvavanjem gasa i
adsorpcijom.
3.3 Bioloki postupci
Bioloki procesi preiavanja zasnivaju se na aktivnosti kompleksne

mikroflore, koja u toku svog ivotnog ciklusa usvaja organski i dio neorganskih
materija, koje ine zagaenje otpadne vode, koristei ih za odravanje ivotnih
aktivnosti i za stvaranje novih elija. Nakon zavrenog preiavanja obavi se, na
pogodan nain, separacija mikroflore i preiene otpadne vode, u kojoj zaostaje mala
koliina organske materije, koja je bioloki nerazgradiva, kao produkt metabolizma koje
je mikroflora izluila u vodu. Biolokim preiavanjem mogue je iz otpadne vode
ukloniti najvei dio organskog zagaenja, ali je nemogue potpuno preiavanje.
U sistemu preiavanja otpadnih voda bioloka obrada voda odvija se kao
sekundarno preiavanje, a poslije mehanikog, odnosno primarnog preiavanja.
Bioloko preiavanje moe se pojaviti i kao nezavisan postupak. U toku
bioloke obrade nastaje stabilizovani mulj koji se iz vode odstranjuje u sekundarnim
talonicima.
Bioloki procesi preiavanja mogu se odvijati kao aerobni i kao anaerobni, uz
pomo aerobnih ili anaerobnih mikroorganizama. Aerobni procesi su zastupljeniji i
odvijaju se na dva naina: sa suspendovanom mikroflorom (sa aktivnim muljem) i sa
imobilisanom mikroflorom na internom nosau (bioloka filtracija) [5].
570
4 ANALIZA POSTOJEEG STANJA U PREDUZEU J. P. VODOVOD TREBINJE

Postrojenje za preradu otpadnih voda (PPOV) Trebinje je trenutno u funkciji i
na njega je prikljueno maksimalno 14 000 ekvivalentnih stanovnika (ES), sa
specifinom potronjom vode od 200 l/ES/danu. Na slici 2. prikazana je blok ema
postrojenja.
Slika 2. Blok ema postrojenja
1 gruba reetka, 2 pumpna stanica sirove vode, 3 automatska luna

reetka, 4 trakasti transporter, 5 aerisani pjeskolov, 6 silos za pijesak, 7
primarni talonik, 8 bioderacioni bazen, 9 sekundarni talonik, 10 mjera protoka,
11 hlorna stanica, 12 kontaktni bazen, 13 efluent, 14 pumpna stanica sirovog
mulja, 15 primarno trulite, 16 sekundarno trulite, 17 pumpe za cirkulaciju mulja
i vode, 18 rezervoar za gas, 19 pe za zagrijavanje, 20 rezervoar za gorivo D2,
21 suna polja, 22 cjevovod procjednih voda, 23 cjevovod povratnog mulja, 24
pumpna stanica povratnog mulja, 25 dizel agregat, 26 kompresorska stanica, 27
radionica, 28 upravno pogonska zgrada, 29 presa za mulj, 30 cjevovod za
transport mulja, masti i plivajuih materijala iz B.B.
PPOV Trebinje je izgraeno 1980. godine, te je samim tim veina opreme, koja
je ugraena na postrojenje, zastarjela. Prosjeni protok otpadne vode, tokom prolih
godina, bio je oko 35 l/s.
Pri dotoku, otpadna voda prvo dolazi do ulaznog okna, gdje je smjetena gruba
reetka (slika 3), pomou koje se uklanjaju krupnije, nerastvorive i plivajue materije iz
otpadnih voda.
Slika 3. Gruba reetka
571
Postojea fina reetka za uklanjanje otpada je automatska i slui za uklanjanje

sitnijih materija.
Nakon to otpadna voda proe kroz finu reetku, ulazi u aerisani pjeskolov za
odvajanje pijeska i masti, slika 4. Tu se masti uklanjaju sa povrine pomou strugaa.
Pumpa za uklanjanje pijeska se nalazi na dnu bazena i nije namjenjena za tako velike
koliine, te nije u mogunosti da ispumpa sav pijesak.
Slika 4. Aerisani pjeskolov
Iz aerisanog pjeskolova otpadna voda gravitaciono tee prema primarnom

taloniku, slika 5. Tu se voda i mulj razdvajaju, mulj se odvodi do digestora pomou
uronjenih muljnih pumpi u pumpnoj stanici primarnog mulja, sa protokom od Q = 30 l/s,
dok se voda gravitaciono odvodi do aeracijskog bazena.
Slika 5. Primarni talonik
Aeracijski bazen se sastoji iz dva identina bazena, zapremine 2 000 m 3. Oba

bazena su u funkciji, ali usljed niskog dotoka otpadne vode, trenutno radi samo jedan.
U svakom od bazena otpadna voda se aerie pomou povrinskih aeratora. Svrha
procesa aeracije je redukcija ugljen-dioksida, oksidacija eljeza i mangana, koji se
mogu nai u mnogim vodama iz bunara, te redukcija amonijaka i sumpor-vodonika.
Plivajue materije iz aeracijskog bazena se skupljaju u kanalu bazena i
gravitacijom vode do pumpne stanice primarnog mulja, gdje se pumpaju prema
digestorima mulja (slika 6), kao i mulj iz primarnog talonika.
572
Slika 6. Digestori za stabilizaciju mulja
Predvieno je da se mulj iz digestora transportuje do trakaste filter prese ili do

polja za suenje mulja. Trakasta filter presa je u funkciji, ali se rijetko koristi, te se mulj
direktno transportuje do polja za suenje mulja, zapremine 150 m 3. Polja za suenje
mulja su funkcionalna samo tokom ljetnog perioda, budui da je potrebno vrijeme
suenja minimalno 30 dana, slika 7.
Slika 7. Polja za suenje mulja
Iz aeracijskog bazena otpadna voda gravitaciono tee direktno do sekundarnog

talonika, gdje se mulj dodatno taloi na dnu bazena, slika 8.
Slika 8. Sekundarni talonik
Nakon sekundarnog talonika preiena voda sa gravitacionim cjevovodom

isputa se u rijeku Trebinjicu. Mulj iz sekundarnog talonika se pumpa preko pumpne
stanice povratnog mulja do aeracijskih bazena i pumpne stanice sirove vode. U
pumpnoj stanici povratnog mulja ugraene su dvije jednake pune pumpe kapaciteta
573
po 105 l/s.
Prije ispusta u rijeku Trebinjicu, proiena voda prolazi kroz postojei
Venturijev mjera protoka. Nakon njega se nalazi hlorna stanica, sa ugraenim
pregradama, koja je izgraena kao objekat za dezinfekciju vode. [3]
5 ZAKLJUCI
Usljed ovjekovog djelovanja, znatno se mijenja hemijski sastav vode, kao i
odnosi koji u njoj vladaju, pa kaemo da je voda zagaena.
Vijekovima, u veoj ili manjoj mjeri, ovjek svoj otpad baca, direktno ili
indirektno, u vodene tokove, do mora, procesima prirodnog kruenja vode. ovjek je
svjestan da svojim injenjem, radi svog opstanka, nesvjesno unitava osnovni element
opstanka na Zemlji. Svjestan je da se veoma zagaena voda ne moe koristiti za pie,
kao ni za navodnjavanje poljoprivrednih povrina. Da bi se mogla koristiti, neophodno
je potroiti velika materijalna sredstva i energiju za njeno preiavanje, kako bi se
dovela u upotrebljivo stanje.
Na osnovu analize postojeeg stanja na podruju preiavanja otpadnih voda
u gradu Trebinju, dolo se do zakljuka da je neophodna rekonstrukcija sistema,
budui da je isti projektovan i puten u rad 80-ih godina prolog vijeka.
Ono to ide u prilog prethodno reenom jeste to da preduzee J.P. Vodovod
Trebinje intenzivno radi na izradi projekta rekonstrukcije stanja, te da e se u skorijoj
budunosti i pristupiti implementaciji istog.
LITERATURA
[1] Ljubisavljevi, D., uki, A., Babi, B. (2004). Preiavanje otpadnih voda,
Graevinski fakultet Beograd.
[2] Vuijak, B., eri, A., Silajdzi, I., Midi Kurtagi, S. (2011). Voda za ivot:
osnove integralnog upravljanja vodnim resursima, Institut za hidrotehniku
Graevinskog fakulteta, Sarajevo.
[3] IPSA Institut (2015). Rehabilitacija i dogradnja postrojenja za preiavanje
otpadnih voda Trebinje, Sarajevo.
[4] https://www.scribd.com/doc/81850299/Prociscavanje-Otpadnih-Voda, pristupljeno
20. 06. 2016. god.
[5] http://oaji.net/articles/2016/1899-1458130651.pdf, pristupljeno 24. 06 .2016. god.
.
574
_____________________________________________________________________________
PROIZVODNJA ELEKTRINE ENERGIJE U VODOVODNIM

SISTEMIMA
Krsto Batini1
Rezime: Ovaj rad opisuje proces proizvodnje elektrine energije koritenjem energije
hidromehanikog potencijala iz vodovodnih sistema. U radu je dat konkretan primjer
prorauna i opis mogunosti proizvodnje elektrine energije iz vodovodnog sistema
grada Istono Sarajevo. Primjena ovog naina proizvodnje elektine energije ima niz
pogodnosti u pogledu odrivosti i smanjenja negativnih uticaja po ivotnu sredinu.
Kljune rijei: elektrina energija,hidroenergija, vodovodni sistemi snabdijevanja
ELECTRICITY POWER GENERATION IN WATER SUPPLY SYSTEMS

Abstract: This paper describes the process of producing electricity by using energy of
hydro-mechanical potential of water supply systems. The paper contain real example
of calculation and description of possibility for producing electricity from water supply
system of East Sarajevo. Application of this method for production of electrical energy
has a number of benefits in terms of sustainability, and reducing negative impacts on
the environment.
Key words: electricity, hydro-power, water supply systems
1 UVOD
Jo od prve naftne krize, 80-ih godina 20. vijeka (1972-73), iri se svijest o
ogranienosti fosilnih resursa. Veina zemala je tada zapoela sa bezuslovnim
mjerama tednje energije i energenata, da bi ubrzo sa bezuslovne tednje preli na
sprovoenje niza mjera za njeno racionalno koritenje. Velika panja se posveuje to
potpunijem iskorienju energije, u svim njenim oblicima. Drave koje nemaju rudna
nalazita fosilnih goriva, moraju ih uvoziti to u velikoj mjeri njenu privredu dovodi u
podreen poloaj. Stoga se dosta ulae u razvijanje i eksploataciju sistema sa to
efikasnijom transformacijom primarnih obnovlivih izvora energije (energija vodotokova,
biomase, sunca, vjetra, i dr.) u finalnu energiju dostupnu potroau (elektrina
energija, biogas, metanol, i dr. ). Osim toga, sagorjevanjem fosilnih goriva u atmosferu
se oslobaaju gasovi koji imaju negativan uticaj na ivotnu sredinu. To su uglen-
1 Krsto Batini, Mainski fakultet Univerziteta u Istonom Sarajevu, BiH, bkrsto94@gmail.com
575
Krsto Batini
dioksid CO2, metan CH4, azotovi oksidi NOx i dr. Ovi gasovi stvaraju efekat staklene
bate, i uzronici su ubrzanog zagrijavanja planete. Poetkom 2008. godine, EU je
usvojila strategiju prema kojoj je u odnosu na 1990. godinu do 2020. potrebno smanjiti
emisiju gasova koji izazivaju efekat staklene bate za 20%, unaprijediti energetsku
efikasnost za 20% i obezjediti uee obnovlivih izvora energije od bar 20% u
sveukupnoj potronji energije [1]. U odnosu na 2010. i procenat od 9,8%, EU je
zakluno sa 2012. ostvarila 11% udjela obnovlivih izvora energije u ukupnoj
energetskoj potronji [1].
2 ENERGIJA VODOTOKOVA
Smatra se da hidroelektrane danas obezbjeuju oko 24% (675 GW) svjetskih
potreba za elektrinom energijim, a da njom snabdijevaju vie od milijardu ludi. Na
sledeoj slici data je podjela hidroelektrana s obzirom na zakonsku legislativu u
Republici Srpskoj [2].
Slika 1. Podjela hidroelektrana
Sa aspekta ekologije i zatite ivotne sredine, male hidroelektrane imaju

prednost nad velikim. Razlozi su viestruki. Velike elektrane znatno utiu na okolinu:
dolazi do potapanja velike koliine zemlita pa ak i itavih nasela, trulenjem
potoplenih bilaka dolazi do velikih emisija metana, znaajno utiu na mikroklimu
stvaranjem velikih vjetakih jezera i drugo. Pored svih ovih nedostataka, treba
napomenuti da se stvaranjem vjetakih jezera potrebnih za rad velikih hidroelektrana
isuuju pola i omoguava konstantno navodnjavanje, ime se omoguava razvoj
poloprivrede. Na primjer, izgradnjom sistema elektrana na Trebinjici u velikoj mjeri
rijeeno je plavlenje doline Trebinjice ime je omogueno isuivanje i navodnjavanje
preko 5000 hektara obradive zemle u Trebinjskom i Popovom polu. Za razliku od
velikih, male i mini hidroelektrane se dobro uklapaju u okolinu iskoritavanjem ve
postojeih sistema (naputenih mlinova, vodovodnoh sistema i drugo). Mala je
potronja energije za njihovu izgradnju ime je manja i ukupna (kumulativna) emisija
CO2.
576
Proizvodnja elektrine energije iz vodovodnih sistema
3 PROIZVODNJA ELEKTRINE ENERGIJE POSTAVLJANJEM TURBINE NA

VODOVODNE CJEVOVODE
Male hidroelektrane (MHE) su hidroenergetski sistemi manjih snaga. Po
Labudoviu [3] to su sistemi do 5000 kW snage. Obino su instalisane na manjim
rijekama, potocima, kanalima ili vodovodnim sistemima. O znaaju malih
hidroelektrana govori podatak da je do 2003. godine ukupna instalisana snaga u
svijetu inila oko 7% ukupne instalisane snage svih hidroelektrana u svijetu. Prema
istraivanjima, ukupni hidroenergetski potencijal MHE u svijetu iznosi oko 180 GW, to
ini 6% ukupnog svjetskog potencijala.
Proizvodnja elektrine energije iz vodovodnih cjevovoda nije nepoznat nain
transformacije kinetike energije vode u elektrinu energiju. Ukoliko imamo dovolnu
visinsku razliku izmeu izvorita i distributivne mree vodovoda (rasteretne komore ili
postrojenja za preradu vode, ako postoji) opravdana je investicija ugradnje turbine i
generatora na ve postojei cjevovod. Naime, ova investicija je opravdana injenicom
da u ukupnoj cijeni hidroelektrana na prirodnim vodotocima najvei dio trokova (do
50%) odlazi na izgradnju vodozahvata i cjevovoda. Pri instalisanju elektrane na ve
postojei cjevovod ovi trokovi se skoro potpuno eliminiu. Upravo zbog ovoga period
otplate moe biti i do 3 puta manji od perioda otplate hidroelektrana na prirodnim
vodotocima. Takoe, ove MHE vrlo malo utiu na okolinu, dobro se uklapaju u nju jer
su instalisane na ve postojeoj cjevovodnoj mrei. U uslovima koje preovladavaju u
BiH, imajui u obzir veliinu gradova sa prirodnim padom vode, mogue je graditi MHE
snage do 0,5 MW, protone, srednjeg ili visokog pritiska.
Osnovni zahtjev koji se postavla pred ovakve objekte je obezbjeenje
kontinuiranog toka vode u vodovodnom sistemu, i nemogunost oneienja pitke
vode.
U mnogim dravama svijeta, hidroenergetski potencijal vodovodnih mrea je
dosta dobro iskoriten. Na primjer, u vajcarskoj imamo oko 90 malih hidroelektrana
koje su instalisane na vodovodnim mreama irom drave (2011). U vlasnitvu grke
kompanija EYDAP, koja snabdijeva oko 4 300 000 Grka vodom, 2012. godine bilo je
est ovakvih postrojenja, ukupne snage 12,56 MW, godinje proizvodnje oko 90 GWh
a planirana je izgradnja jo tri elektrane ukupne snage 2 MW [4]. Prema Kucukali [5]
Turska, u svojim vodovodnim cjevovodima ima energetski potencijal za proizvodnju
173 GWh elektrine energije godinje. Prvi ovakav objekat u BiH, je MHE ajdra u
Zenici, zvanino puten u pogon 2011.g. Instalisana snaga navedene MHE je 485 kW
[6]. ematski prikaz MHE na transportnom cjevovodu dat je na sledeoj slici.
Slika 2. Prikaz sistema u MHE na transportnom cjevovodu [7]
577
Krsto Batini
3.1.1 Mogunost postavljanja turbine na vodovodni sistem grada Istono

Sarajevo
Optine Istono Novo Sarajevo i Istona Ilida se svojim najveim dijelom
snabdijevaju vodom iz vodovodnog sistema Tilava. Prema istraivanjima koja su
vrena 2003. godine izdanost sistema Tilave je oko 105 l/s. Naime, izdanost izvora
Tilava je oko 80 l/s, dok je izdanost izvora Toplik oko 25 l/s. U periodima sue, a
ujedno i mjesecima najvee potronje (jul, avgust, septembar), izdanost izvora se
smanjuje na vrijednost 30-40% od prosjene godinje vrijednosti. Oko 85%
stanovnitva ove dvije optine se snabdijeva sa ovih izvorita. Vei dio seoskog
podruja se snabdijeva iz lokalnih izvora, koristei vodu nesigurnog kvaliteta, ija
koliina zavisi od padavina. Manji dio stanovnitva se snabdijeva vodom iz
vodovodnog sistema optine Pale. Uzimajui u obzir da se optine Istono Novo
Sarajevo i Istona Ilida ubrzano ire, jasno je da e kroz koju godinu postojati veliki
problem vodosnabdijevanja. Stoga su u upravi lokalnog vodovodnog preduzea traili
alternativne izvore napajanja vodom.
Kao racionalan izbor, kojima bi se dopunjavao vodovodni sistem ove dvije
optine namee se izvorite Grabski mlini, koje se nalazi u susjednoj optini Trnovo. Iz
ovog izvorita, koje je izdanosti oko 30 l/s, snabdijeva se vodom nasele Kijevo
(optina Trnovo). Poto su potrebe za vodom nasela Kijevo neznatne (1-2 l/s), iz
optina Istona Ilida predloeno je da se viak vode iz sistema Grabski mlini
preusmjeri u vodovodni sistem Tilava. Planiran je projekat Vodovod Kijevo Krupac
kojim bi se izgradio magistralni cjevovod sa rezervoara Hadii u Kijevu do
distributivne mree u Vojkoviima [8]. Ovim projektom, neka pojedina nasela
(Vojkovii, Krupac...) bi se snabdijevala vodom iz sistema Grabski mlini, ime bi se u
znaajnoj mjeri rasteretio vodovodni sistem Tilava. U zavisnosti od ekonomskih i
tehnikih uslova, postoji vie alternativa za implementaciju ovog projekta. U radu [8]
dolo se do optimalne varijante za izvedbu ovog projekta prema kojoj je: Potrebno
izgraditi transportni cjevovod, 160, duine oko 5 500 m od tvrdog polietilena (PE
100), za nazivne pritiske NP 16 bar-a. Na kraju transportnog cjevovoda potrebno bi bilo
izgraditi rasteretnu komoru rezervoarskog tipa, zapremine 150 m3. Izgradnjom ove
komore regulisao bi se pritisak na ulazu u distributivnu mreu, i ne bi bilo potrebno
ugraivanje reducir ventila.
Uzimajui u obzir da je izdanost izvorita Grabski mlini oko 30 l/s, te da
nasele Kijevo uzima do 2 l/s, te uzimajui u obzir da bioloki minimum protoka ne bi
trebao biti ispod 7-10% za izvorita bez riba, dolazimo do zakluka da je 25 l/s vode
dostupno za preuzimanje u vodovodni sistem Tilava. Ova voda, koja bi se
transportovala sa rezervoara Hadii (658 m nadmorske visine) do rasteretne komore
u Vojkoviima (520 m nadmorske visine) ima znatan hidroenergetski potencijal.
3.1.2 Proraun hidropotencijala cjevovoda Kijevo Vojkovii

U sledeoj tabeli date su osnovne karakteristike cjevovoda Hadii Krupac.
Tabela 1. Karakteristike cjevovoda Hadii - Krupac

projektrovana duina cjevovoda
unutranji prenik cijevi PN 160
protok kroz cjevovod
578
srednja brzina vode kroz cijevi
nadmorska visina rezervoara Hadii
nadmorska visina planiranog rezervoara u

Vojkoviima
kinetika viskoznost za vodu, za temperaturu
15C
gustina vode
koeficijent apsolutne hrapavosti za cijev od
polietilena
Na sljedeoj slici data je pregledna situacija rezervoar Hadii rasteretna komora u

Vojkoviima.
Slika 3. Prikaz situacije rezervoar Hadii rasteretna komora u Vojkoviima
Postavlamo Bernulijevu jednainu slobodne povri rezervoar Hadii rasteretna

komora u Vojkoviima:
Za transportne cjevovode, pretpostavla se da ukupni lokalni otpori ne prelaze 10%

vrijednosti linijskih otpora [9].
Da bi izraunali koeficijent trenja , potrebno je prethodno izraunati Rejnoldsov broj:
Kao to se moglo pretpostaviti, strujanje je turbulentno ( . Za odreivanje
579
Krsto Batini
koeficijenta trenja koriten je izraz koji je afirmisao prof.dr Georgije Hajdin, a koji
predstavla proirenje Blazijusovog izraza za glatku cijev:
Slini rezultati dobijeni su korienjem SwameeJain obrazca koji je izveden iz formule

ColebrookWhite :
Iste vrijednosti se dobiju uvrtavanjem u Mudijev dijagram.

Uvrtavajui sve poznate vrijednosti u Bernulijevu jednainu (1) dobijamo:
Pritisak je pritisak sa se vri proraun turbine. On odgovara neto padu od

H=93,5 m
Ukupan hidroenergetski potencijal iznosi :
Uzimajui u obzir prosjene koeficijente korisnosti turbine i generatora:

i ,
mogua snaga hidroenergetskog postrojenja je :
S obzirom na navedenu snagu, ovu MHE bi mogli svrstati u mikro hidroelektrane (5-
100 kW)
Ako uzmemo u obzir da jedno ovako postrojenja radi bez zastoja prosjeno 8 497 sati
godinje [3], dolazimo do projektovane godinje proizvodnje od:
U sluaju smanjene potronje vode, na primjer u nonim terminima, viak vode bi se

isputao preko rasteretne komore nazad u prirodu.
S obzir da prosjena etvorolana porodica godinje troi oko 6000 kWh, prostom
raunicom dobijamo da bi proizvodnja ove MHE podmirila potreba 28 domainstava za
elektrinom energijom.
3.1.3 Trokovi opravdanosti ulaganja

Sastavni dio svake studije izvodlivosti su proizvodni i investicioni trokovi.
Prema Labudoviu [3] specifini investicioni troak MHE snage do 50 kW je najvei i
580
kree se od 1250 do 2500 evra/kW. U ovom radu e se kao referentna cijena uzeti
2000 evra/kW. Ukupne trokove moemo podijeliti na:
1. trokove pripremnih i graevinskih radova
Ovi trokovi su najvei. Obuhvataju izradu brane, mainske zgrade, itd. U ukupnom
udjelu trokova oni su najvei i kreu se od 40 do 70%.
2. trokovi hidromehanike opreme
Oni zavise od instalisanog protoka. U ukupnom udjelu trokova utiu 1-2%, i ine ih
pomoni dijelovi: dovodni kanali, armatura, itd.
3. trokovi elektromainske opreme
Na ove trokove otpada od 20 do 40% ukupnih trokova. Oni obuhvataju trokove za
nabavku : turbine, generatora, transformatora, reguliue i zatitne opreme, itd.
4. trokovi prikluivanja na elektroenergetski sistem
U ukupnom udjelu trokova kreu se do 20%.
5. administrativni, projektni i preostali trokovi
Na njih otpada do 10% ukupnih trokova.
Uzimajui u obziv navedenu strukturu trokova i gore navedene karakteristike
eventualne izgradnje MHE na transportnom cjevovodu Kijevo Krupac, moe se
izvriti redukcija trokova. Naime, ova izvedba MHE ne podrazumjeva izgradnju brane.
Zahvat vode, cjevovod pod pritiskom i odvod vode ( koji se odnosi na dio cjevovoda
koji vodi u rezervoar) su planirani da se naprave u okviru projekta Vodovod Kijevo
Krupac pa samim tim ne uestvuju u trokovima izgradnje MHE. Transformator nije
potreban, jer se prikluivanje vri direktno na mreu. Svi ovi elementi ine veliki dio
trokova izgradnje MHE, stoga se od cijene 2000 evra/kW, moe oduzeti bar 40%.
Oduzimanjem gore navedenih trokova od specifine cijene dolazi se do cijene od
1200 evra/kW.
U tom sluaju ukupna cijena postrojenja bi iznosila
Za ovu cijenu i srednju godinju proizvodnju od , moe se izraunati

koeficijent energije:
Ako otkupna cijena elektrine energije dobijene iz hidroelektrana (do 1 MW) iznosi
0.1541 KM/kWh [10] teorijsko vrijeme povrata kapitala je:
Uzimajui u obzir trokove odravanja i vlastitu potronju, kao i eventualne

poremeaje, za oekivati je da period otplate pri ovim uslovima ne traje vie od 2,5-3
godine. Protone turbine kao to su Peltonova, Cinkova, Osenbergova (Bankijeva)
koje se koriste pri instalisanju MHE na sisteme sa pitkom vodom nemaju negativan
uticaj na vodu.
NAPOMENA: Sve ove vrijednosti u gore navedenim obrascima raunate su za

unutranji prenik cijevi:
to uzrokuje brzinu protoka:
581
Krsto Batini
Cijene koje su uzete u obzir su preuzete iz dostupne literature. Ukoliko bi neko odluio
da pravi MHE na ovom transportnom cjevovodu, bilo bi potrebno izvriti detalnu studiju
izvedivosti ovog projekta.
4 ZAKLJUCI
U dananje vrijeme, kada raspoloivi resursi u obliku fosilnih goriva nestaju,
proizvodnja energije i energenata iz obnovlivih izvora je od velike vanosti. Korist je
viestruka:
smanjenje emisije CO2 i drugih tetnih gasova
smanjena energetska nezavisnost od uvoza energenata
otvaranje novih radnih mjesta i dr.
U ovom radu prezentovane su mogunosti proizvodnje elektrine energije iz
vodovodnih sistema. Svako mjesto koje se snabdijeva vodom prirodnim padom ima
potencijal za razvoj MHE na transportnom cjevovodu. U zavisnosti od protoka vode,
pristupanosti terena, postojee infrastrukture ti projekti mogu biti isplativi ili ne.
Uzimajui u obzir da veina gradskih vodovodnih preduzea u okolini najvie novca
izdvajaju za elektrinu energiju, napajanje iz sopstvenih izvora se ini kao racionalan
potez. Naravno, ako postoje mogunosti za to. Savremena tehnika omoguava razvoj
sistema za to bole i efikasnije MHE na transportnim cjevovodima.. Izgradnja jednog
ovakog postrojenja nema veliki uticaj na redukciju emisije tetnih gasova. Pravi uticaj
se ogleda u sticanju navike u iskoritavanju kako malih hidroenergetskih tako i drugih
samoodrivih postrojenja.
LITERATURA
[1] http://www.ec.europa.eu/clima/ , pristupljeno 20.01.2016.g.
[2] Gvero, P., Vaskovi, S., i drugi. (2016). Prirunik: Obnovljivi izvori energije i odrivi
razvoj lokalnih zajednica, Banjaluka Istono Sarajevo
[3] Labudovi, B. (2002). Obnovljivi izvori energije, Energetika marketing, Zagreb
[4] Byns, N., Leunis, K., Peeters, L., Tonnet, L., Leuven, K.U. (2012). The Use of
Hydropower in Water Supply
[5] Kucukali, S. (2010). Hydropower potential of municipal water supply dams in
Turkey: A case study in Ulutan Dam, Energy Policy, 38, 6534-6539
[6] Prethodna dozvola za izgradnju MHE ajdra na rasteretnoj komori magistralne
vodovodne cijevi DN-400, Kruiva rezervoar Zmajevac II u ajdrau, optina
Zenica, 2010.g.
[7] Gono, M., Kyncl, M., Gono, R. (2012). Hydropower Station in Chech Water Supply
System, AASRI Conference on Power and Energy System,
www.sciencedirect.com, pristupljeno 20.01.2016.
[8] Oraanin, G., Vuijak, B. (2013). Viekriterijumska optimizacija u planiranju
vodosnabdijevanju, asopis Tehnika, Savez inenjera i tehniara Srbije, Beograd
[9] Bogner, M. (2013). O vodama, drugo dopunjeno i proireno izdanje, ETA, Beograd
[10] Slubeni glasnik Republike Srpske (2013). Zakon o obnovljivim izvorima energije i
efikasnoj kogeneraciji, http://www.apeor.com/images/Zakon_OIE_39_13.pdf,
582
_____________________________________________________________________________
RAZMATRANJE MOGUNOSTI ZAMJENE UGLJA U KOTLOVNICI

NA VRSTO GORIVO SA GORIVOM OD OTPADNE DRVNE
BIOMASE
Danijela Mitrovi1, Marko Krnojelac2
Rezime: U radu su prikazana razmatranja mogunosti zamjene uglja u gradskim

kotlovnicama sa otpadnom drvnom biomasom. Razmatrana je mogunost zamjene
uglja-lignita u kotlovnici na vrsto gorivo sa otpadnom drvnom biomasom odnosno
drvnom sjekom za stambeni blok od 5000 m2. Snaga kotlovnice za zagrijavanje
stambenog objekta je oko 800 kW. U obzir su uzete trenutne cijene energenata u
Bosni i Hercegovini.
Kljune rijei: drvna biomasa, kotlovnica, isplativost
POSSIBILITY OF REPLACING COAL IN THE HEATING PLANT WHICH IS

RUNNING ON SOLID FUEL WITH WASTE WOOD BIOMASS
Abstract: In this paper we examined the possibility of replacing coal in urban heating
plants with waste wood biomass. We examined the possibility of replacing lignite-coal
in the heating plant which is running on solid fuel with waste wood biomass or wood
chips for a residential block of 5000 square meters. The power of the boiler room for
heating residential building is about 800 kW. Current energy prices in Bosnia and
Herzegovina were taken into account during the examination.
Key words: wood biomass, boiler room, profitability
1 UVOD
Korienje fosilnih goriva, prvenstveno uglja uzrokuje relativno veliko
zagaenje ivotne sredine. Pored toga to njihovo iskoriavanje i upotreba zagauju
vazduh, zemljite, vodu, te naruava prirodne ekosisteme, najvei problem kod
njihovog korienja je u globalnim posljedicama na klimu. Upotreba fosilnih goriva, te
neracionalno korienje energije, pored ekolokih efekata, ima veliki ekonomski i
socijalni efekat.
1 Dipl. in. ma, Danijela Mitrovi, Mainski fakultet, Istono Sarajevo, BiH
mdanijela224@gmail.com
2 Dipl. in. Ma, Marko Krnojelac, Mainski fakultet, Istono Sarajevo, BiH
markobdr@hotmail.com
583
Danijela Mitrovi, Marko Krnojelac
Sagorijevanjem uglja u vazduhu se emituju razliiti polutanti: sumpor-dioksid,

ugljen-monoksid, oksidi azota i drugi, ime se ugroava ambijentalni kvalitet vazduha.
Ogromne koliine pepela i ljake koji nastaju sagorijevanjem uglja predstavljaju takoe
znaajane zagaivae ivotne sredine. U sumpor-dioksid se pretvara skoro sav
zapaljivi sumpor iz uglja. Ugljen-dioksid utie na ivotnu sredinu indirektno preko
promjene klime.
S obzirom na zalihe i cijenu fosilnih goriva, potrebe za prelazak i korienje
energije obnovljivih izvora su postale prioritet. Obnovljivi izvori energije i racionalno
korienje energije negativne posljedice na ivotnu sredinu svode na minimum, te
osiguravaju dugoronu ekonomsku i socijalnu odrivost i stabilnost.
Biomasa kao obnovljivi izvor energije posljednjih godina dobija vaan znaaj u
proizvodnji toplote i elektrine energije u svijetu. Razlog zato biomasa kao obnovljivi
izvor energije postaje sve zanimljiviji u dananje vrijeme lei u tome to upotreba
biomase doprinosi zatiti ivotne sredine i odrivom razvoju, a pored toga biomasa
doprinosi sigurnosti u energetskom snabdijevanju pojedinih drava, koje su zavisne od
uvoza fosilnih goriva.
2 PRIMJENA BIOMASE KAO GORIVA

Da bi se smanjila upotreba fosilnih goriva, analizirana je primjena obnovljivih
izvora energije-otpadne drvne biomase. Osnovna veliina za odreivanje energetskog
potencijala drveta je njegova toplotna mo u potpuno suvom stanju. Ona zavisi od
vrste drveta, i za drvo sa naeg podneblja se kree izmeu 17 i 21 MJ/kg.
Sa ekolokog aspekta drvna biomasa je prihvatljiv energent jer ne oslobaa
gasove staklene bate (CO2 je neutralan u sluaju kada je godinji prirast drvne
biomase vei ili barem jednak sjei drveta). Gotovo da ne sadri sumpor i hlor. Pored
ekolokih prednosti koje posjeduje, da bi bio ekonomski isplativ energent jedan od
potrebnih uslova je da se koristi blizu mjesta gdje se nalazi, jer je transport umskog
otpada tj. umskih ostataka relativno skup. Kao izvor toplote, drvna biomasa se u
eksploataciji najee koristi u obliku: cjepanica, briketa, peleta i drvne sjeke (drvni
ips).
2.1 Osnovne karakteristike drvne biomase

Cjepanice se dobijaju rezanjem i cijepanjem stabla. Najvei uticaj na
energetske karakteristike drveta ima udio vlage, hemijski sastav, gustina i kvalitet
drveta. Donja toplotna mo je 15 MJ/kg. Cijena u BiH oko 120 KM/t.
Briket se dobija fizikim sabijanjem usitnjenog drvnog materijala u
odgovarajuim presama bez vezivnog sredstva, pri odreenim uslovima: visok pritisak,
poviena temperature i optimalan sadraj vlage u materijalu (izmeu 6 i 16%).
Vlanost briketa se kree od 7 do 10%, a uobiajne dimenzije su 70x120 mm. Donja
toplotna mo je od 16 do 18 MJ/kg. Cijena u BiH je oko 230 KM/t.
Pelet nastaje presovanjem usitnjene drvne mase (drvnog brana) pod visokim
pritiskom. Uglavnom se koriste ostatci nastali u drvnoj industriji, ali i ogrevno drvo koje
se prvo mehaniki usitnjava. Cilindrinog je oblika, prenika od 6 do 12 mm, duine od
10 do 30 mm. Sadraj vlage u peletu kree se od 8 do10%. Donja toplotna mo je od
15,5 do 18,5 MJ/kg. Cijena na tritu u BiH je oko 300 KM/t.
Sjeka li drvni ips se dobija usitnjavanjem drveta do odreene granulacije u
prostorijama za pravljenje sjeke. Kao sirovina mogu se koristiti: umski drvni ostatci,
ogrevno drvo, ostaci iz drvne industrije i drugo otpadno drvo. Dimenzije sjeke su u
rasponu od 8 do 30 mm. Uee sitnijih i krupnijih komada u odnosu na optimalne
584
Razmatranje mogunosti zamjene uglja u kotlovnici na vrsto gorivo sa gorivom od otpadne
drvne biomase
dimenzije su dozvoljeni od 5 do 10% u odnosu na ukupnu koliinu. Ako se sjeka

proizvodi od suvog drveta ili polusuvog (prosuenog) drvnog ostatka vlanosti do 25%,
skladiti se u zatvorenim prostorijama, a ako je vlaga iznad 25% skladiti se u
poluzatvorenim nadstrenicama. Donja toplotna mo je od 8 do 12 MJ/kg. Cijena na
tritu u BiH je oko 80 KM/t.
Najee koriena forma drveta u peima i manjim kotlovnicama su cjepanice.
Primjena cjepanica u konvencionalnim kotlovima veeg kapaciteta iziskuje potrebe sa
velikim skladinim prostorom kao i vei broj rukovodilaca i pomonih radnika, jer je
nemogua automatizacija procesa doturanja goriva u loite. Poto promjena toplotnog
kapaciteta kotla direktno zavisi od loaa, oteana je primjena bilo kakve automatske
regulacije.
Birekit i pelet, praktino, nemaju ogranienja u pogledu kapaciteta, s tim da je
automatizacija procesa dovoenja goriva u potpunosti razvijena za pelet od malih (20
kW) do velikih kapaciteta (oko 1 MW). Zbog visoke cijene peleta primjenjuje se za
manje objekte.
Za kapacitete iznad 300 kW, najee se koriste kotlovska postrojenja koja kao
osnovni energent koriste drvnu sjeku.
3 PRORAUN ISPLATIVOSTI ZAMJENE UGLJA U KOTLOVNICI NA VRSTO

GORIVO SA GORIVOM OD OTPADNE DRVNE BIOMASE ZA STAMBENI BLOK
OD 5000M2
Toplota za zagrijavanje stambenih jedinica se obezbjeuje iz centralne
kotlovnice sa dva toplovodna kotla kapaciteta 575 kW. Kao primarno gorivo koristi se
ugalj lignit. Ugraena termotehnika oprema obezbjeuje efikasno korienje energije;
kotlovi sa visokim stepenom korisnosti, radijatorski ventili sa termostatskom glavom i
dr. Objekat je graen u skladu sa vaeim propisima i tehnikim normativima, a
primjenjeni su savremeni materijali male toplotne provodljivosti, tako da su male
vrijednosti koeficijenata prolaza toplote kroz graevinski omota objekta.
S obzirom da je instalisana snaga u kotlovnici za zagrijavanje stambenog
objekta oko 800 kW, razmatrana je primjena drvne sjeke kao alternative lignitu koji se
trenutno koristi.
Zagrijavanje stambenog objekta vri se dnevno od 6 do 22 asa, odnosno
ukupno 16 asova.
Grejna sezona u toku kalendarske godine traje oko 7 mjeseci.
Godinje se za zagrijavanje stambenog objekta, tj. u toku grejne sezone potroi
se oko 300 t lignita. Jedinina cijena lignite, tj. 1 t lignite na tritu BiH iznosi oko 200
KM.
Donja toplotna mo lignita koji se koristi kao energent se kree od 7,8 do 11,2
MJ/kg.
Usvojena je prosjena vrijednost donje toplotne moi lignita je 9,3MJ/kg.
Prosjena asovna potronja lignita iznosi:
G 300 t
qlig 0, 08
nm n n 7 30 16 h
(1)
gdje su:
G= 300 t- potronja lignita u toku grejne sezone,
nm = 7 mjeseci - vrijeme trajanja grejne sezone,
585
nd = 30 dana- broj dana u toku mjeseca,

n = 16 h - broj sati u toku dana kada se vri zagrijavanje objekta.
Prosjeno optereenje kotlova kada je gorivo lignit u toku grejne sezone iznosi:
qlig k H d 0,08 103 0,85 9300
Qs 175,66kW
3600 3600 (2)
gdje je:
0,85 stepen korisnosti kotla.
Prosjeno optereenje kotlova kada se kao gorivo koristi drvna sjeka iznosi:
Qs 250 kg
qs 3600 3600 96, 22
k Hd 0,85 11000 h (3)
gdje su:
Qs 250 kW -zbirno prosjeno optereenje kotlova kada se kao gorivo koristi drvna
sjeka,
kJ
Hd= 11000 -prosjena vrijednost donje toplotne moi za drvnu sjeku u toku
kg
grejnje sezone.
Ako se uzme u obzir da grejna sezona traje 7 mjeseci, 30 dana i 16 sati rada po danu
dobija se ukupna potronja drvne sjeke:
kg t (4)
Ls 7 30 16 96, 22 323299 323, 2
god god
Ako znamo da je cijena drvne sjeke 80 KM/t, onda je cijena kotanja drvne sjeke za
itavu sezonu:
KM t KM KM
Csje Ls 80 323, 2 80 25856
t god t god (5)
Trokovi goriva kada se kao energent koristi lignit u toku godine (grejne sezone)
iznose:
t KM KM
Clig 300 200 60000 (6)
god t god
Ukoliko bi se umjesto lignita kao gorivo koristila drvna sjeka uteda u toku godine bi
iznosila:
U Clig Csje 60000 25856 34144KM .
(7)
586
Razmatranje mogunosti zamjene uglja u kotlovnici na vrsto gorivo sa gorivom od otpadne
drvne biomase
4 KOLIINA UGLJEN-DIOKSIDA U TOKU GREJNE SEZONE

Kada se kao gorivo koristi drvna sjeka smatra se da je emisija CO 2 jednaka
nuli jer je koliina CO2 koja se emituje pri sagorijevanju drvne sjeke priblino jednaka
onoj istoj koliini CO2 koja se ugradi u strukturu drvne biomase u toku procesa
fotosinteze. U tabeli 6.1. dat je koeficijent emisije CO2 za razliita goriva.
Tabela1. Koeficijent emisije CO2 za razliita goriva

Gorivo Emisija(kgCO2/GJ)
Biomasa 109,6
Treset 10,6
Kameniugalj 101,2
Mrkiugalj 97,09
Lignit 96,43
Dizel 77,4
Sirovanafta 74,1
Benzin 71,5
Prirodni gas 56,1
Koliina emitovanog CO2 u toku grejne sezone kada se kao gorivo koristi lignit
iznosi:
CO2 = 96,43 (kgCO2/GJ) 9,3 MJ/kg300 t= 269 039,7 kg
(8)
CO2 = 269,04 t.
5 ZAKLJUAK
Sagorijevanje uglja, jedan je od uzroka globalnog zagrijavanja, dakle stvaranja
tzv. efekta staklene bate usljed emisije ugljen-dioksida, sumpornih i azotnih jedinjenja.
Promjena klimatskih uslova predstavlja jednu od najozbiljnijih opasnosti za Zemljin
ekoloki sistem. Zato je potrebno nai neko alternativno rjeenje.
Kada se kao gorivo koristi drvna otpadna biomasa smatra se da je emisija CO 2
jednaka nuli jer je koliina CO2 koja se emituje pri sagorijevanju drvne sjeke priblino
jednaka onoj istoj koliini CO2 koja se ugradi u strukturu drvne biomase u toku procesa
fotosinteze.
U radu su prikazana razmatranja mogunosti zamjene uglja-lignita u kotlovnici
na vrsto gorivo sa otpadnom drvnom biomasom odnosno drvnom sjekom za
stambeni blok od 5000 m 2. Uzevi u obzir trenutne cijene energenata u Bosni i
Hercegovini, zakljueno je da bi se godinje u toku grejne sezone koristei drvnu
sjeku utedjelo oko 34 000 KM.
LITERATURA
[1] Kratki vodi za grijanje na drvnu biomasu,Globalni fond za okoli (GEF).
[2] Danon, G.: Energija u preradi drveta, umarski fakultet, Beograd.
[3] onlagi, M. (2010). Studija o obnovljivim izvorima energije u BiH, Centar za
ekologiju I energiju,Tuzla.
[4] Markovi, D. (2010). Procesna i energetska efikasnost, Univerzitet Singidunum,
Beograd.
587
[5] Radi, D. (2014). Pei i kotlovi u industriji, Predavanja, Beograd.

[6] Simi, S. (14-17.09.2009). Otpad iz drvne industrije izuzetno kvalitetan energent,
Druga meunarodna nauno-struna konferencija o upravljanju otpadom,
Industrijski otpad II, Tara.
588
INDEX OF AUTHORS
Adamovi Dragan 249

Aleksi Aleksandar 493, 501
Andjelkovic Boban 333
Ani Jelica 285
Anti Aco 221
Antunovi Ranko 55, 465
Arsovski Slavko 493
Atanasovska Ivana 23
B
Baji Brajan 87
Bajtarevi Amna 191
Bani Milan 169
Batini Krsto 575
Blagojevic Milan 349, 531
Blagojevic Mirko 55, 101
Blagojevi Veselin 445, 485
Bori Jusuf 385
Boikovi Dario 263
Boikovi Ranko 445, 485
Boikovi Sinia 485
Boikovi Zdravko 263
Bukejlovi Nenad 263
But Adrian 243
C
Canarache Radu 243

avi Maja 177, 301
ia Djordje 237
ular Ivan 185

osovi Vladan 229
D
Davinic Aleksandar 163
Deni Marko 109
Despotovi Milan 485
Dii Aleksandar 17
Divac Dejan 9
Divcic Miodrag 325
589
Dobra Dragoslav 255
Doleek Vlatko 1

ordjevi Milan 375
ordjevi Zorica 361
orevi Aleksandar 501
uri Aleksija 367
G
Gaji Anto 475
Gaji Sinia 475
Gari Slobodan 147
Gai Milomir 131
Gavrilovic Olivera 361
Gliovi Jasna 155
Gojkovi Ranka 509, 517
Golubovi Duan 417, 437
Gordi Duan 445, 509
Grahovac Nemanja 561
Gruji Ivan 155, 163
Gvero Petar 399, 407
H
Hadikaduni Fuad 191
Hadiomerovi Seadin 393
Halilovi Velid 399
Hozdi Elvis 277, 309
Hozdi Emine 277, 309
Husika Azrudin 407
I
Ianici Sava 301
Iki Marko 421, 429
Ili Jovica 285
Ivanovic Lozica 147, 353
J
Janoevi Dragoslav 115
Janji Miladin 561
Jelai Zlata 93
Jeremi Dejan 37
Jocanovi Mitar 451, 457
Jokanovi Mirjana 567
Jovanovi Milena 375
Jovanovi Saa 123, 361
Jovanovi Vesna 115
Jovii Gordana 17
590
K
Kalabi Dragana 407
Karabegovi Isak 1
Karanovi Velibor 451, 457
Kneev Milo 215
Kneevi Darko 47, 451
Kneevi Ivan 177, 301
Kokotovi Branko 207
Komatina Nikola 493
Kosti Nenad 101, 353
Koarac Aleksandar 55
Krainik Milija 249, 285
Krajinik Marijana 539
Kramar Davorin 237
Kramberger Janez 333
Krnojelac Marko 583
Krsmanovi Jagoda 475
Krsti Branimir 71
Kuzmanovi Sinia 301
Kvrgi Vladimir 131
L
Lonarek Igor 341
Lubura Slobodan 421, 429
Luki Dejan 221
M
Mani Marko 375
Mari Bogdan 517
Marjanovi Nenad 101, 155
Marjanovi Vesna 109
Markovic Biljana 325, 367
Markovi Milisav 255
Maslo Merima 393
Matejic Milos 101, 353
Medakovi Vlado 407, 517
Miladinovi Slavica 139, 147
Milainovi Aleksandar 47
Milcic Dragan 333
Milcic Miodrag 333
Miler Daniel 341
Mili Davor 417, 437
Milivojevi Nikola 9
Miloradovic Danijela 163
Milovanovi Andreja 531
Milovanovi Vladimir 17, 147
Milovanovi Zdravko 47
Miltenovi Aleksandar 169
Miltenovi ore 169
Milutinovi Dragan 207
Milutinovi Miroslav 17
Miljkovi Aleksandar 531
Mirkov Gligorije 501
591
Mikovi arko 293
Mitrovi Danijela 583
Mitrovi Radivoje 23, 293
Moljevi Slavia 509
Mrki-Bosani Maja 399
Muhamedagi Sulejman 385
Mumovi Marko 547, 553
N
Nedi Novak 81
Nesti Sneana 501
Nikoli Neboja 451
Novakovi Vojislav 445
O
Obad Milenko 317
Oraanin Goran 417, 437
Oronjak Marko 451, 457
Oru Mirsada 385
P
Pajki Jovana 437, 567
Pavlovi Goran 131
Pavlovi Jovan 115
Peni Marko 177, 301
Pei Radivoje 163
Petrovi Daliborka 399
Petrovi Nenad 101, 109
Petrovi Predrag 523
Pjevi Milo 229
Plavi Milan 523
Plei Mio 465
Prodanovi Saa 81
Prcanovi Halim 385
Pukari Hrvoje 501
R
Rackov Milan 177, 301
Radi Neboja 37
Radovanovic Miroslav 271
Raji Milena 375
Rajnhofer Svetozar 349
Raki Dragan 9
Raovi Marko 547
Raovi Neboja 317
Relji Vule 87
Risovi Stjepan 185
Risti Marko 123
Rudi-Miki Ljilja 475
S
Samardi Vasilije 547
Savkovi Mile 131
592
Simi Stojan 417, 437
Skuli Aleksandar 123
Slavkovi Nikola 207
Soldat Nataa 23
Sredanovic Branislav 237
Stefanovi Andreja 249
Stefanovi Miladin 501
Stefanovi Milentije 249
Stevanovi Nevena 361
Stojanovi Blaa 123, 147
Stojanovi Nadica 155, 163

abanovi Ernad 421, 429
arenac Vujadin 465
elija Dragan 87
ljivi Milan 285
oja Milomir 421, 429
ulc Jovan 87
T
Tabakovi Slobodan 199
Tadi Danijela 493
Tanovi Ljubodrag 229
Tica Milan 169
Tomovi Aleksandar 547, 553
Tomovi Radoslav 29
Trifkovi Dragan 71
V
Vaskovi Sran 399, 407
Velikovi Sandra 123, 139
Vueti Nikola 55, 63
Vuina Adisa 317
Vukovi Kreimir 185
Vuherer Tomaz 333
Vujanovi Dajana 71
Vujoevi Vuk 547
Vukojevi Nedeljko 191
Z
Zdravkovi Neboja 131
Zeljkovi Milan 215, 221
Zlokolica Miodrag 177

eelj Dragan 341
ivanovi Saa 199, 207
ivkovi Aleksandar 215
ivkovi Dragoljub 375
ivkovi Miroslav 9, 17
593
594
________________________________________________________________________________________________
PRESENTATIONS OF PARTICIPANTS
O PREDUZEU
TERMOELEKTRO d.o.o. Brko je privatno i nezavisno preduzee osnovano 23.07.1997.
godine. Preduzee je nastalo iz Holdinga TERMOELEKTRO a.d. Beograd osnovanog davne 1948. godine.
TERMOELEKTRO je specijalizovano preduzee za: izgradnju, remont, rekonstrukciju,
revitalizaciju i odravanje termoenergetskih, industrijskih i drugih postrojenja, kao i izradu i montau
nestandardne opreme i konstrukcija. TERMOELEKTRO prua kompletnu i kvalitetnu uslugu od
inenjeringa i izrade projekata do organizacije na samom gradilitu po principu klju u ruke.
Naa MISIJA je da razvijamo i odravamo poslovne odnose s domaim i stranim partnerima
pruajui visoki profesionalizam i vrhunski kvalitet uz potovanje rokova i interesa naih klijenata.
Svojom prepoznatljivom poslovnom politikom elimo da privuemo, razvijemo i zadrimo najbolje
strunjake na podruju nae djelatnosti. Tako emo poveati povjerenje u TERMOELEKTRO ig, to je naa
obaveza prema poslovnim partnerima, vlasnicima, zaposlenima i drutvu u cjelini.
Naa VIZIJA je da zadrimo vodeu poziciju na domaem tritu, te da ojaamo svoju ulogu na
stratekim tritima u inostranstvu.
elimo da izrastemo u preduzee koje je sposobno projektovati i izvesti i najkompleksnije projekte,
te svojim kvalitetom nadmaiti oekivanja svojih klijenata.
CILJEVI:
razvoj moderne, snane, pouzdane i prepoznatljive kompanije na tritu u BiH i inostranstvu
ispunjavanje svih ugovorenih zahtjeva naih kupaca u to kraem roku i sa vrhunskim kvalitetom
kontinuirana politika unapreenja naih usluga uz doslednu primjenu domaih i meunarodnih
standarda
da vlasnicima obezbjedimo sigurnost njihovog kapitala
da zaposlenima obezbjedimo ekonomsku sigurnost, ali i permanentnu edukaciju i poslovno i lino
unapreenje
da aktivno uestvujemo u unapreenju lokalne sredine.
NAE USLUGE
Nai zaposleni posjeduju bogato iskustvo iz irokog spektra naih usluga na sljedeim industrijskim
objektima:
Termoelektrane:
Rafinerije:
Hemijska i petrohemijska postrojenja:
Toplane i gasne stanice
NAJZNAAJNIJI PARTNERI:
1. Rudnik i Termoelektrana Ugljevik a.d. Ugljevik

2. Rudnik i Termoelektrana Gacko a.d. Gacko
3. Elektroprivreda BiH d.d. Sarajevo
4. Sisecam Soda Lukavac d.d. Lukavac
5. Rafinerija nafte a.d. Bosanski Brod
6. ArcelorMittal Zenica d.d. Zenica
www.abpetrol.com.ba
SKF Eurotrade AB
Drutvo sa ogranienom odgovornou - ehida bb ; 72240 Kakanj - Bosna i Hercegovina
Tel:++387(0) 32 557 170
++387(0) 32 557 171
Telefax:++387(0) 32 555 939
e-mail: abpetrol@bih.net.ba
Preduzee AB Petrol doo je osnovano 1992. godine sa sjeditem u Kaknju.
Osnovna djelatnost firme je promet industrijskih roba na veliko u unutranjem i spoljno trgovinskom
prometu.
Znanjem, iskustvom te vrhunskim kvalitetom roba koje distribuiramo, ispunjavamo oekivanja najveih
BH kompanija u oblasti industrijske proizvodnje.
Preko 20 godina distributer SKF-a i partner SKF-a za sisteme centralnog podmazivanja.
SKF je vodei svjetski proizvoa opreme za industriju i odravanje. Uz znanje i strunost u velikom
broju disciplina i iskustvo sticano godinama kao tehniki partner za proizvoae opreme i krajnje
korisnike u gotovo svakoj grani industrije, SKF isporuuje ne samo proizvode nego potpuno integrisana
rjeenja koja pomau naim korisnicima da postignu svoje ciljeve. SKF je razvio pet potpuno odvojenih
platformi za industriju i odravanje a to su:
-leajevi i leajne jedinice
-semerinzi
-proizvodi za prenos snage
-mehatronika i servisi
-sistemi za centralno podmazivanje
AB Petrol doo Kakanj je ovlateni partner SKF-a u oblasti centralnih podmazivanja sa pruanjem cjelovite
usluge krajnjem korisniku (projektovanje, montaa i putanje u pogon sistema za centralna
podmazivanja). Ova oblast pokriva najznaajnije svjetske proizvoae opreme Lincoln-USA, Willy
Vogel- Njemaka, Safematic Finska, Cirval Argentina. U oblasti centralnog podmazivanja u posljednje
tri godine realizovali smo preko 30 razliitih projekata u velikim industrijskim sistemima u BiH.
AB Petrol je takoer I distributer slijedeih brendova:

STASTO Austrija oprema za pneumatiku, hidrauliku i industrijsku armaturu
IKA WERKE - kalorimetri za vrsta i tena goriva, kupke, lab.reaktori, procesna oprema
ZPA Pecky- ON/OFF i regulacioni pogoni sa ili bez armatura. Isporuka pogona sa razliitim paketima
opreme i mogunostima.
Obratite nam se s povjerenjem:
AB Petrol d.o.o. Kakanj

ehida bb Kakanj
Bosna i Hercegovina
Tel: 032/557-171
Fax: 032/555-939
Email: abpetrol@bih.net.ba
CIP -

,
621.03(082)(0.034.4)
"
" COMET a (3 ; 2016 ;
) Zbornik radova [Elektronski izvor] =
Proceedings / 3. Meunarodn naun konferencij
"Primijenjene tehnologije u mainskom inenjerstvu" COMETa
2016, Istono Sarajevo - Jahorina 2016 =3rd International
Scientific Conference "Conference on Mechanical Engineering
Technologies and Applications" COMETa 2016, East Sarajevo -
Jahorina 2016. ; [urednici, editors Biljana Markovi, Ranko
Antunovi]. - 1 izd. - Istono Sarajevo : Mainski fakultet, 2016. -
1 optiki disk (CD-ROM) : tekst ; 12 cm
Sistemski zahtevi nisu navedeni. - Radovi na srp. i engl. jeziku. -

Napomene i bibliografske reference uz tekst. - Bibliografija uz
svaki rad. - Rezimei na engl. i srp. jeziku.
ISBN 978-99976-623-7-8
COBISS.RS-ID 6240280
ISBN 978-99976-623-7-8

Zbornik Radova COMETa 2016

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Zbornik Radova COMETa 2016

Uploaded by

Copyright:

Available Formats

UNIVERSITY OF EAST SARAJEVO

3rd INTERNATIONAL SCIENTIFIC CONFERENCE

Istono Sarajevo Jahorina, BiH, RS

East Sarajevo Jahorina, B&H, RS

PROCEEDINGS OF THE 3rd INTERNATIONAL

Organizator: Univerzitet u Istonom Sarajevu

Izdava: Univerzitet u Istonom Sarajevu

Za izdavaa: Prof. dr Ranko Antunovi

Urednici: Prof. Dr Biljana Markovi,

Tehnika obrada i Ranka Gojkovi, senior asisstant

Register: ISBN 978-99976-623-7-8

PhD Adisa Vuina, FMEC Mostar (B&H)

INTERNATIONAL SCIENTIFIC COMMITTEE

PhD Biljana Markovi, FME UES (B&H) president

PhD Ranko Antunovi, FME UES - president

Ministry of Science and Technology Republic of Srpska

International Federation for the Promotion Association for Design, Elements

Turistika organizacija Istono Sarajevo

Production in developed countries is based on the modernization and

East Sarajevo, November 19th, 2016.

President of the Scientific Committee President of the Organizing Committee

Prof. dr Biljana Markovi Prof. dr Ranko Antunovi

APPLIED MECHANICS AND MECHATRONICS

Chairpersons: Vlatko Doloek, Miroslav ivkovi, Novak Nedi

1. Isak Karabegovi, Vlatko Doleek

MACHINE DESIGN, SIMULATION AND MODELING

Chairpersons: Dragan Mili, Mirko Blagojevi, Lozica Ivanovi

1. Nenad Marjanovic, Nenad Kostic, Nenad Petrovic,Mirko

MANUFACTURING TECHNOLOGIES AND ADVANCED

1. Slobodan Tabakovi, Saa ivanovi

Chairpersons: Radivoje Mitrovi, Adisa Vuina, Sinia Kuzmanovi

1. Radivoje Mitrovi, arko Mikovi

RENEWABLE ENERGY AND ENVIRONMENTAL

Chairpersons: Slavko Krajcar, Petar Gvero, Stojan Simi

1. Marko Mani, Dragoljub ivkovi, Milan Djordjevi, Milena Raji,

MAINTENANCE, QUALITY AND ORGANIZATION

Chairpersons: Mitar Jocanovi, Ranko Boikovi, Sneana Nesti

1. Mitar Jocanovi, Velibor Karanovi, Marko Oronjak, Neboja

Chairpersons: Saa Prodanovi, Aleksandar Koarac, Sran Vaskovi

1. Andreja Milovanovi, Milan Blagojevic, Aleksandar Miljkovi

INDEX OF AUTORS 589

TREND PRIMJENE INDUSTRIJSKIH ROBOTA U AUTOMOBILSKOJ,

Rezime: U 21.vijeku prolo je vrijeme klasine tradicionalne proizvodnje. Dananji

Kljune rijei: proizvodni proces, automatizacija, robot,automobilska industrija, elektro

THE TENDENCY OF APPLICATION OF INDUSTRIAL ROBOTS IN THE

1 Prof.dr sc. Isak Karabegovi, Tehniki fakultet Biha, BiH, isak1910@hotmail.com

of customers in the market. Industrial robots are used in the automation of

Keywords: manufacturing process, automation, robot, automotive industry, electric

2 ANALIZA PRIMJENA INDUSTRIJSKIH ROBOTA U SVIJETU

mainama i radnicima.U razvijenim zemljama kod veine industrijskih kompanija tema

Slika 1. Industrijski roboti temelj etvrte industrijske revolucije[20]

Slika 2. Primjena industrijskih robota u svijetu u periodu 20002015.godine i

Za trend primjene industrijskih robota u svijetu na godinjem nivou prikazan je

Kao to vidimo sa slike 3. u prvih pet zemalja u svijetu po najveoj primjeni

Slika 4. Primjena industrijskih robota u Kini za period 20102015.godine

Kao to vidimo sa slike 4. Kina iz godine u godinu poveava primjenu

3 ANALIZA PRIMJENA INDUSTRIJSKIH ROBOTA U PROIZVODNIM

Slika 5. Analiza primjene industrijskih robota u automobilskoj industriji u svijetu za

Analizom primjene industrijskih robota u automobilskoj industriji vidimo da je

Slika 6. Analiza primjene industrijskih robota u elektro/elektronikoj industriji u svijetu

Trend primjene industrijskih robota u elektro/elektronikoj industriji je rastui

Slika 7. Analiza primjene industrijskih robota u metalnoj industriji u svijetu za period

Metalna industrija po primjeni industrijskih robota u svijetu je trea, kao to

Slika 7. Analiza primjene industrijskih robota u svijetu po industrijskim granama