Improving the reliability of the hydraulic manipulator by reducing the dynamic loads

Abstract

Hydraulic manipulators are universal lifting and transport means with promising applications in construction, forestry, agriculture and other areas of human activity. When such machines work in their constructions, complex oscillatory processes arise, which subsequently lead to destruction of the mechanisms and design of the manipulator. That is why the metalwork and many mechanisms lead manipulators is designed with significant stock factors, which subsequently leads to an increase in the mass-dimensional parameters of these machines. To provide increased reliability of the manipulator it is proposed to use "smart" control, which will minimize oscillatory processes in the manipulator systems and its metal structures. Reducing fluctuations will lead to increased reliability. The essence of "smart" control is the application of the optimal laws of change of movement, speed and acceleration of the piston of the drive hydraulic cylinder. The article considers a comparison of the non-optimal manual and optimal jerky control law, which is obtained by minimizing the functional with the integrand of the "energy" jerking. The conducted experimental researches have shown the efficiency of the optimal control, which allows increasing the lifetime of the metalwork of the manipulator by 18.8%.