Optimization of the force mode of range change in an articulated boom system with a geared sector at a fixed mode of crane rotation

Abstract

Variational calculus methods were used to optimize the boom system's flight change mode. For this, a variational problem is set, which includes the differential equations of motion of the jib system, the optimization criterion, and the boundary conditions of the movement when the departure and rotation of the crane are changed. The root-mean-square value of the drive torque of the flight change mechanism during the start-up process, which is an integral function, was chosen as the criterion for optimizing the movement mode of the boom system. The kinematic characteristics of the mechanism for changing the departure of the boom system from the state of rest to reaching the steady speed of the load, at the steady angular speed of the turning mechanism, were chosen as boundary conditions. Such boundary conditions eliminate fluctuations of the load on the flexible suspension after the end of the start-up process when the departure is changed
 As a result of the numerical solution of the given variational problem, graphical dependencies of the optimal kinematic, power and energy characteristics in the process of starting the flight change mechanism, with a fixed mode of rotation of the crane, were constructed. The obtained optimal mode of movement of the departure change mechanism eliminates load fluctuations on the flexible suspension and minimizes dynamic loads.