Holdun V. Optimization of modes of movement of mechanism of lifting of cargo at loading-unloading operations on vehicles

The thesis presents theoretical and experimental researches aimed at improving the efficiency of loading and unloading of vehicles by means of optimization of the movement modes of bay crane lifting mechanism. The dynamic analysis of the system «lifting mechanism of cargo – load – vehicle» during transient mode was carried out and the main factors influencing the value of dynamic loads in the crane bridge, the rope and suspension of the vehicle have been determined. The nonlinear optimization problem of the lifting mechanism movement control has been stated. Nonlinear integral and linear terminal functionals, show undesirable energy and dynamic performance of the system, have been used as optimization criteria. An approximate solution of the optimization problem has been found using the collocation method. The optimal laws of the motion of the system are described by continuous functions. During the implementation of optimal system movement, the dynamic forces in the elements of the crane and vehicle are significantly decreasing. In industrial conditions, experimental studies have been carried out, which allowed to confirm the adequacy of the accepted theoretical models. On the basis of the results of multi-factorial experiments measures have been established the proposition for the effective implementation of the load lifting mechanism optimum control in different modes. The ways of reducing the loading of a suspension of a vehicle, a crane bridge and ropes by the control of a mechanism’s drive have been offered. The structural scheme of the load lifting mechanism control of the bay crane had been developed. The economic effect of the system has been calculated.