Abstract

Optimization of a multi-drive machine, i.e., a tower crane with a pivoting boom, needs to take into account the interactions between cooperating mechanisms. This article outlines a methodology of selecting optimal mechanism structure from a set of possible solutions. By introducing a certain quality criterion, a set of parameters optimized for the full range of motion is determined for each structure. Thus, obtained parameters can be regarded as optimal and guarantee the best mutual adjustment of interacting mechanisms. Accordingly, each structure is assigned the optimum quality index value. Obviously, this index is associated with the type of involved mechanisms and their interactions, allowing us to find the best out of the sets of optimized cranes mechanisms. The method was illustrated for a one-link crane with lever mechanisms, and comparison was made with rope mechanisms. Optimization tasks were formulated assuming the ideal stiffness of the structure in quasi-static conditions. Effectiveness of the optimization was verified under the dynamic conditions, taking into account rope flexibility. Finding globally optimal design solution will yield the best combination of different mechanisms structures such that the dynamic overload values should be significantly reduced at the stage of design of the steel structure.

摘要

多驱动机器的优化，即带有旋转臂的塔式起重机，需要考虑协作机构之间的相互作用。本文概述了从一组可能的解决方案中选择最佳机制结构的方法。通过引入一定的质量标准，为每个结构确定一组针对全运动范围优化的参数。因此，获得的参数可以被认为是最优的，并保证相互作用机制的最佳相互调整。因此，每个结构都被分配了最佳质量指标值。显然，该指数与所涉及机制的类型及其相互作用相关联，使我们能够从优化的起重机机制集中找到最好的。该方法针对带有杠杆机构的单连杆起重机进行了说明，并与绳索机构进行了比较。假设准静态条件下结构的理想刚度，制定了优化任务。在动态条件下验证了优化的有效性，同时考虑了绳索的灵活性。寻找全局最优设计方案将产生不同机构结构的最佳组合，从而在钢结构设计阶段应显着降低动态过载值。