| Issue |
MATEC Web Conf.
Volume 86, 2016
5th International Scientific Conference “Integration, Partnership and Innovation in Construction Science and Education”
|
|
|---|---|---|
| Article Number | 04049 | |
| Number of page(s) | 5 | |
| Section | 4 Building materials and Technologies | |
| DOI | https://doi.org/10.1051/matecconf/20168604049 | |
| Published online | 28 November 2016 | |
To the Optimal Use of Technological Capabilities of the Excavator – Dragline in Construction
Moscow State University of Civil Engineering, 129337, 26, Yaroslavskoye Shosse, Moscow, Russian Federation
* Corresponding author: zrk@nm.ru
The mathematical model of motion of system “boom on a turning platform – bifilar suspended bucket” was created. As a control function, we choose the moment of force relatively non-movable base. The length of suspension of the bucket is assumed to be constant. The bucket of excavator is suspended bifilar. The bucket and the arrow needs to be moved from initial rest final rest position. The results of solution of the problem of rapid movement of bucket of excavator - dragline are presented. The structure of an optimal control law has been calculated by means of maximum Pontryagin’s principle and the method of control parameterization. A simple technique of calculations of optimal bucket trajectories has been developed. The dynamic of optimal control laws of the bucket and the arrow has been studied. Special software is created.
© The Authors, published by EDP Sciences, 2016
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