Abstract
The mathematical model of motion of system “boom on a turning platform – bifilar suspended bucket” was created. As a control function, we choose the moment of force relatively non-movable base. The length of suspension of the bucket is assumed to be constant. The bucket of excavator is suspended bifilar. The bucket and the arrow needs to be moved from initial rest final rest position. The results of solution of the problem of rapid movement of bucket of excavator - dragline are presented. The structure of an optimal control law has been calculated by means of maximum Pontryagin’s principle and the method of control parameterization. A simple technique of calculations of optimal bucket trajectories has been developed. The dynamic of optimal control laws of the bucket and the arrow has been studied. Special software is created.
Highlights
At present technological capabilities of the heavy walking excavator - dragline, for a variety of reasons, are used not fully [1,2,3]
The results obtained in the article are in complete agreement with the results of solving the problem turn the excavator to the maximum angle within the required time [1]
The main results of the investigation can be summarized as follow: 1. The method of investigation of maneuvering capabilities of controllable mechanical systems was adapted for the problem of increasing performance of excavator - dragline
Summary
At present technological capabilities of the heavy walking excavator - dragline, for a variety of reasons, are used not fully [1,2,3]. In [9] described an effective method for analysis of maneuvering capabilities of controlled mechanical systems and results of its application for solving the problem of optimum maneuvering of aircraft and spacecraft. In [10] described a numerical method for optimization of high dimensionality systems. In [1], using methods of [9-10], provides the results of application of the developed technology to the problem of maximum turn angle dragline - excavator boom within a fixed time interval, with finite damping of occurring oscillations of a bucket, which bifilar attached to a boom of excavator. This article provides the results of application of the method [9-10] to solve the problem about the fastest movements of a dragline excavator bucket and arrow to a given point with. The results obtained in the article are in complete agreement with the results of solving the problem turn the excavator to the maximum angle within the required time [1]
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