Optimization of the joint start-up mode of the hoisting and slewing mechanisms of a boom

To increase the productivity of boom cranes, joint movement of mechanisms is performed. The simultaneous start-up of mechanisms significantly increases dynamic loads and intensifies oscillations of structural elements and loads on a flexible suspension reducing the reliability of crane operation and increasing energy losses. Therefore, the optimization problem of the joint start-up of the slewing and load hoisting mechanisms of a boom crane is stated and solved in the article. To optimize the joint start-up of the mechanisms, the boom system is represented by a 5-DOF dynamic model. For such a dynamic model of a boom crane, a mathematical model is developed in the form of a system of nonlinear differential equations of the second order. The optimization problem includes an optimization criterion and constraints on the driving torques and boundary conditions. An approximate modified metaheuristic PSO method was used to solve the nonlinear optimization problem. Based on the calculation, the optimal modes of joint start-up of the mechanisms for load slewing and hoisting of a boom crane were determined, making it possible to minimize dynamic loads and, as a result, reduce oscillations of the system links and energy consumption of the drives.