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- Autors
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Loveikin V. S., Romasevych Yu. A., Mushtyn D. I.
- Issue
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Hoisting and transport equipment, 2020, №2(63)
- Pages
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12-26
- DOI
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10.15276/pidtt.2.63.2020.02
- Abstract
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Optimization of the start-up mode of the luffing mechanism of tower crane during continuous speed of its slewing has been carried out in the article. In order to do this, Lagrange equations have been used. They allowed to obtain the equations of movement of the luffing mechanism. A criterion for minimization has been selected. It reflects the root-mean-square value of the driven force. Its minimization allowed decreasing the total level of the dynamic loads in the elements of the mechanism. In the optimal control problem statement have been used two constrains: on maximum and minimum drive forces and on the minimum power of the drive.
In order to carry out the optimization procedure the basis function has been used. It provides desired boundary conditions of the reduced masses movement. It allowed eliminate load’s oscillations. Basis function includes three unknown parameters. They have been calculated in such a way, that they provide minimization of the criterion. In order to minimize it two methods have been used: numerical (ME-PSO method) and analytical (direct vatiational method).
Obtained results were presented in the form of plots. Analysis of those allowed to stated the smoothness of the energetic, dynamic and kinematic characteristics of the system movement. It provides quite simple realization of the results in practice. The comparison analysis of results of criterion minimization has been carried out. It has been stated that using of the direct vatiational method leads to worse results, but it allows to takes into account constraints.
- Keywords
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optimization, control, luffing, oscillation, rotation, criterion.
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