Reducing Amplitude of Load Swinging During Operation of Hydraulic Manipulators of Forest Transport Machines

摘要

The problem of loads swinging during the operation of forest transport machines equipped with a hydraulic manipulator is considered. It is noted that the starting and braking modes of hydraulic manipulators operation are characterized by high dynamic loads and significant fluctuations in the pressure of the working fluid. To eliminate these negative events, various hydraulic apparatus (safety valves, throttles, dampers, etc.) are used. At the same time, a promising direction for solving this problem is the use of an energy-saving hydraulic actuator that is able to accumulate energy during the start-stop operation and then return to the system. To determine the factors affecting the reduction of dynamic loading of hydraulic manipulators, and to identify the conditions for reducing the sway of the load, a simulation mathematical model of the manipulator, equipped with an energy-saving hydraulic actuator, was developed. Within the framework of the model, physical processes occurring in the mechanical and hydraulic subsystems of a manipulator equipped with an energy-saving hydraulic actuator and an additional damper are reproduced. On the basis of the model, a theoretical study was conducted in the form of a series of computer experiments in which the main parameters of the energy-saving hydraulic actuator, manipulator and its working conditions were alternately changed. The results of theoretical experiments showed that the use of energy-saving hydraulic actuator can significantly reduce pressure surges in the hydraulic system, and the movement of load in space becomes smoother.