Investigation of dynamics of excavator digging mechanism with additional drive

International Conference on Innovations and Prospects of Development of Mining Machinery and Electrical Engineering 2018

矿业工程;电工学

Kuznetsov, N.K.^1 ; Iov, I.A.^2 ; Iov, A.A.^2

Irkutsk National Research Technical University, 83 Lermontov St., Irkutsk

664074, Russia^1

SLC-JH Ltd., Mira St. 101 bld, Moscow

129085, Russia^2

关键词: Active method;    Actuating mechanisms;    Elastic element;    Law of motions;    Mechanical systems;    Transient process;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/194/3/032014/pdf
DOI  :  10.1088/1755-1315/194/3/032014

来源: IOP

【 摘 要 】

In the article, an active method for reducing dynamic loads in the digging mechanism of the ESC 20.90 excavator is presented on the basis of additional drives built into the mechanical system. A kinematic scheme for realizing this method is described, a mathematical model of the digging mechanism equipped with additional drives is presented, as well as control algorithms are obtained by solving the inverse problem of dynamics according to the desired law of motion of the actuating mechanism. The method of mathematical modeling shows that the use of additional drives makes it possible to obtain monotonous transient processes of the speed of the actuating mechanism and the torque in the elastic element in the start-up mode, in the load-up and load-down modes.