sibadiНаучный рецензируемый журнал "Вестник СибАДИ"The Russian Automobile and Highway Industry Journal2071-72962658-5626The Siberian State Automobile and Highway University10.26518/2071-7296-2019-5-526-533sibadi-946Research ArticleТРАНСПОРТНОЕ, ГОРНОЕ И СТРОИТЕЛЬНОЕ МАШИНОСТРОЕНИЕTRANSPORT, MINING AND BUILDING MACHINERY ENGINEERINGМОДЕЛИРОВАНИЕ И ИССЛЕДОВАНИЕ КОЛЕБАНИЙ ГРУЗА, ПЕРЕМЕЩАЕМОГО ГРУЗОПОДЪЕМНЫМ КРАНОМFLUCTUATIONS OF THE CARGO TRANSPORTED BY LIFTING CRANE: SIMULATION AND ANALYSIShttps://orcid.org/0000-0002-5104-7568КорытовМ. С.KorytovM. S.

Корытов Михаил Сергеевич – д-р техн. наук, доц., проф. каф. АКМиТ

г. Омск

 

Scopus Author ID 57035238500, ResearcherID B-5667-2015

Mikhail S. Korytov – Doctor of Technical Sciences, Associate Professor, Professor of the Department of Automobile, Construction Materials and Technologies

Omsk

Scopus Author ID 57035238500, ResearcherID B-5667-2015

kms142@mail.ruhttps://orcid.org/0000-0002-3084-2271ЩербаковВ. С.ShcherbakovV. S.

Щербаков Виталий Сергеевич, – д-р техн. наук, проф.

г. Омск

Scopus Author ID 57034922100, ResearcherID N-1716-2017

Vitaliy S. Shcherbakov – Doctor of Technical Sciences, Professor of the Department of Automation of Production Processes and Electrical Engineering

sherbakov_vs@sibadi.orgБеляковВ. Е.BelyakovV. E.

Беляков Виталий Евгеньевич – ст. преподаватель

Vitaliy E. Belyakov – Senior Lecturer

Omsk

vitaliy_belyakov@mail.ruФГБОУ ВО «СибАДИ»РоссияSiberian State Automobile and Highway UniversityRussian FederationВоенная академия материально-технического обеспечения имени генерала армии А.В. Хрулева Министерства обороны Российской ФедерацииРоссияMilitary Academy of Logistics named after Army General A.V. KrulevRussian Federation201931102019165526533Copyright © Корытов М.С., Щербаков В.С., Беляков В.Е., 20192019Корытов М.С., Щербаков В.С., Беляков В.Е.Korytov M.S., Shcherbakov V.S., Belyakov V.E.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://vestnik.sibadi.org/jour/article/view/946Введение

Введение. Уменьшение колебаний груза, перемещаемого грузоподъемными кранами с гибким канатным подвесом груза, является актуальной задачей, поскольку позволяет существенно уменьшить время, затрачиваемое на выполнение рабочей операции перемещения груза. Перспективным направлением уменьшения колебаний груза, позволяющим обойтись без усложнения конструкции грузоподъемного крана, является оптимизация траектории перемещения верхней точки подвеса груза.

Материалы и методы

Материалы и методы. В статье рассматривается способ имитационного математического моделирования плоских колебаний груза, перемещаемого грузоподъемным краном с горизонтально перемещающейся точкой подвеса, при помощи программных средств системы MATLAB. Для моделирования использована функция системы MATLAB ode45, предназначенная для численного решения систем нестационарных дифференциальных уравнений произвольного порядка. Приводится дифференциальное уравнение второго порядка, используемое для описания колебаний перемещаемого груза, и его реализация в виде программного кода. Даются элементы программного кода для анализа и визуализации результатов моделирования.

Результаты

Результаты. В качестве примера в статье приведен ряд графиков изменения с течением времени угла наклона грузового каната, ускорения точки подвеса, значения целевой функции при синусоидальном характере ускорения точки подвеса. Целевая функция представляет собой сумму абсолютных значений угла отклонения каната и его первой производной в конечный момент времени движения точки подвеса с ускорением.

Обсуждение и заключение

Обсуждение и заключение. Показано, что при симметричном характере разгона и торможения точки подвеса система с диссипацией энергии не достигает нулевого значения целевой функции. Необходимо придать асимметричность периодам разгона и торможения точки под- веса, для того чтобы полностью погасить остаточные колебания груза.

Introduction

Introduction. Reducing fluctuations in the load transported by hoisting cranes with a flexible rope suspension of the load is an urgent task since it can significantly reduce the time taken to complete the operation of moving the load. A promising direction for reducing load fluctuations is to optimize the trajectory of movement of the load suspension upper point.

Materials and methods

Materials and methods. The paper discussed the method of mathematical simulation of plane vibrations of a load moved by a crane with a horizontally moving suspension point, using the software of the MATLAB system. For modeling, the authors used the function of the MATLAB ode45 system, intended for the numerical solution of systems of non-stationary differential equations of arbitrary order.

The second-order differential equation used to describe the fluctuations of the transported load and its implementation in the form of program code was presented. Moreover, the authors demonstrated the elements of program code for the analysis and visualization of simulation results.

Results

Results. The authors obtained and presented the series of graphs in the inclination angle’s changing of the cargo rope, the acceleration of the suspension point and the value of the objective function with the sinusoidal nature of the acceleration. The objective function was the sum of the absolute values of the deflection angle of the rope and the first derivative at the final moment of the suspension point’s movement with acceleration.

Discussion and conclusions. As a result, the paper shows that the system with energy dissipation does not reach the zero value of the objective function even by a symmetrical nature of acceleration and deceleration of the suspension point. Therefore, it is necessary to give asymmetry to the acceleration and deceleration periods of the suspension point in order to completely absorb the residual fluctuations of the load.

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The authors declare that there are no conflicts of interest present.