Optimization of the simultaneous start mode of the luffing and the hoisting mechanisms during steady slewing of the jib crane

Abstract

The study presents a solution to the optimization problem of the simultaneous start mode of the mechanism for load hoisting, luffing, and jib section extension during steady slewing of the crane. A dynamic model of the jib system with 6 DOF is used to optimize the mechanisms’ movement modes. The main movement of the mechanism for load hoisting, luffing, jib section extension and slewing the crane, as well as the oscillations of the drive elements of the hoisting mechanism and the load on a flexible suspension, are taken into account in the work. The complex dimensionless integral criterion, which is the drive mechanism forces (torques) RMS value, is used as the optimization criterion. The nonlinear constrained optimization problem is reduced to an unconstrained one and solved by an approximate method. The metaheuristic particle swarm method VCP-PSO, modified to solve problems of this class, is used to solve the optimization problem numerically. It is revealed that during the simultaneous startup of the mechanisms both high-frequency and low-frequency oscillations of the links are damped, and dynamic loads are reduced.