Computer simulation of load swaying while telescoping

Abstract

The article presents a computer dynamic model of swaying a load on a rope with various controls by extending the sections of the telescopic boom of the crane. The purpose of the work is to analyze the possibilities of reducing the swaying of the load with various controls by extending sections of the telescopic boom of the crane. The method of carrying out the work is computer simulation of the movement of a telescopic boom with a load, taking into account the mechanical characteristics of ropes, sections and their contact interaction using the “Universal Mechanism” software. The simulation of the movement of a telescopic boom with a load with one-stage and three-stage control modes, with the dependence of the extension speed on time and movement, has been carried out. The simulation has shown that the three-stage motion control mode with variable acceleration better reduces the load oscillations in comparison with the other two considered modes, although the maximum values of the deflection and skew angle of the load depend more on the acceleration of the sections movement than on the law of motion. Using the dependency of extension speed on displacement is less effective than using the time dependency and slows down the movement of the sections. The positioning error is conditioned by the difference between the actual section extension speed from the specified one. Positioning error is 0,8–1,3 % and can be reduced by adjusting the hydraulic cylinder force values. It is advisable to use a computer model and the established patterns of loads telescoping when designing assembly operations carried out by cranes with telescopic booms.