Optimizing the Start of the Trolley Mechanism during Steady Slewing of Tower Crane

摘要

The problem of optimizing the motion of the trolley mechanism during steady slewing of a tower crane is solved. To this end, a mathematical model of the dynamics of the crane jig system is used. It is reduced to one linear differential equation of the sixth order that describes the dependence of the driving torque of the drive mechanism on the coordinate of the load center of mass and its time derivatives. Three variational problems are stated. The method for analytical solution of the problems is illustrated for one of the problems as an example. Three optimal, in terms of different criteria, modes of motion of the trolley mechanism are obtained. Each of them has its advantages and disadvantages. The obtained results are analyzed, and low- and high-frequency oscillations of the mechanism links are revealed. The conditions under which these oscillations are eliminated are established.