Modeling of working processes in the frequency-adjustable hydraulic drive of manipulation systems with separate movement of links during operation of mobile machines

The article discusses the functional-structural scheme and the mathematical model of the working hydrodynamic processes in the frequency-adjustable hydraulic drive of the technological cranes-manipulators. The model allows to perform computer simulations of the kinematics and dynamics of the elements of the metal structure of the manipulator and hydrodynamic working processes in the hydraulic drive as jointly occurring and interacting processes. A description of a computer program that implements the developed mathematical model is given. The program allows to calculate the change in time of movement, speed and acceleration of the moving link of the handling system, pressure and volumetric flow rate of the working fluid in the characteristic points of the hydraulic system and a number of other parameters. The operation of the hydraulic drive of the real manipulation system was simulated with different laws of variation of the rotational speed of the volumetric pump and the obtained results were analyzed. The adequacy of simulation results and real physical phenomena observed during the operation of mobile machines is shown. Oscillatory instability of kinematic and hydraulic parameters was revealed under certain forms of the laws of frequency regulation.