Optimization of the mode of movement of the boom system of the loader crane
DOI:
https://doi.org/10.32347/2410-2547.2023.111.223-236Keywords:
mathematical model, combination of movements, manipulator, Lagrange equation of the second kind, dynamic loads, load oscillations, changing the boomAbstract
The article presents a method for solving the problem of eliminating vibrations of the load, which is fixed on a rigid articulated suspension at the time of simultaneous movement of two links of the boom system. The essence of the method is to optimize the mode of simultaneous movement of two links of the boom system of the loader crane with horizontal movement of the load during the start-up period. The problem is solved according to two optimization criteria, namely: according to the optimization criterion of the root-mean-square value of the generalized force and the optimization criterion of the root-mean-square value of the power of drive mechanisms. The developed criteria reflect the undesirable properties of the links of the boom system and drive mechanisms, so their value was minimized.
The solution of the optimization problem is presented in a discrete form. For this purpose, the particle swarm optimization (ME-PSO) method was used. This helped to obtain discrete values of the kinematic and power characteristics of the boom system of the loader crane.
Since the optimization criterion is an integral functional, the methods of the calculus of variations are used for its optimization. The solution of the variational optimization problem is presented in the form of many parametric functions that satisfy the boundary conditions of motion and minimize the obtained dimensionless criteria. For this purpose, the particle swarm optimization (ME-PSO) method was used. This made it possible to obtain the dependence of the optimal energy and power characteristics of the boom system and the drive mechanisms of the loader crane. The mode of movement of the boom system links obtained as a result of optimization improved the power and energy characteristics of the loader crane, which made it possible to increase its reliability and productivity.
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