621.87

динамічний аналіз
коливання
вантажний кран
крановий візок
механізм
dynamic analysis
oscillations
crane
crane carriage
mechanism

Наведено динамічний аналіз руху системи, що складається з візка, захватного пристрою і вантажу зі зміщеним центром мас відносно захватного пристрою в процесі розгону. При цьому пуск крана здійснюється на природній механічній характеристиці електродвигуна. Вихідні дані для проведення динамічного аналізу руху системи «візок – захватний пристрій – вантаж» використані з крана ККУ – 10, що оснащений грейферним захватом на гнучкому підвісі з пачкою колод.
In the article the dynamic analysis of motion of the system consisting of a carriage, grip and cargo with a displaced center of mass over the gripper during acceleration is presented, starting of crane being the natural mechanical characteristics of the electric motor. The data input for the dynamic motion analysis of system «carriage – grip – cargo» the crane KKU – 10, which is equipped with a grab on a flexible hanger with a bundle of logs, is used. Mechanical characteristics of the induction motor (MT 112-6) carriage drive, is described by the Kloss, equation linking the electromagnetic torque with sliding Basing on the developed dynamic model equations of motion are obtained, which are constructed using the Lagrange method of second order. These equations represent a system of nonlinear differential equations of second order, which are solved by the numerical methods. When constructing dynamic model of the movement of carriage with a cargo it is assumed that all elements of the crane carriage are moving in a vertical plane, all elements of carriage are perfectly solid, except the grip, that has an elastic connection with cargo and cargo rope, which deviates from the vertical. The linear coordinates of the center of mass of carriage х and angular coordinates deviation from the vertical rope cargo ψ and axis of timber φ are chosen as the generalized coordinates of the developed dynamic model. The graphs of change kinematic characteristics of carriage, grip and cargo are presented. The change of the driving torque of the drive motor during acceleration is investigated. The results testify that after acceleration of carriage significant variations in gripping device and cargo appear. It results in the decrease of productivity and reliability of the crane, as well as to overload of the motor and its control device. Furthermore, minor variations are observed during the steady movement of the carriage with cargo, which then disappear.