Modeljuvannja ruhu robochogo obladnannja vykorchovuvacha

Abstract

Modern exterminators are energy carriers, which, for the most part, have a hydraulic drive of the working equipment. Despite the advantages, the essential disadvantage of hydraulic drive systems is significant inertia. Any change in the supply of fluid to the hydraulic cylinder causes oscillation of the working equipment, especially this is noticeable when switching on and off the supply of fluid to the cylinder. Such fluctuations negatively affect the durability of hinges of kinematic pairs, links and mechanisms. The next problem of hydraulic systems is the occurrence of strikes when reaching the extreme points of the movement of the links. Impacts arise both between the links of the mechanism, and in the hydro system itself. The dynamics of the movement of mechanisms during the transition processes depends on the force and speed of the hydraulic cylinder rod, as well as the inertial characteristics of the entire mechanism. Therefore, the dynamic model must take into account the main movement of the mechanism, the driving force of the stock, the geometric dimensions of the parts of the equipment and their location, as well as their masses and moments of inertia. Implementation of optimal control of hydraulic cylinders of the working body may be carried out with the help of hydromechanical or automotive control systems. Hardware realization of optimal control of hydraulic cylinders of working bodies is possible with the help of hydromechanical or automatic control. Therefore, the task of the work is to find such a mode of movement of the rods of the hydrocylinders of the fork-lift truck, which will ensure smooth inhibition at the end of the movement. It is also proposed to use a spool valve with throttle gaps on the ends of the spools in the hydraulic cylinder control system. Due to the fact that the throttle grooves are made on the spool, at the moment when it under the action of the control signal starts to move and opens the input channels, the working fluid first enters the drainage line through these throttling grooves, and at full opening it freely flows into the outlet. This ensures a gradual,smooth increase in the supply of working fluid in drive hydraulic cylinders in accordance with optimal modes of movement.