Synthesis of optimal laws for frequency-adjustable hydraulic drives of manipulation systems of mobile machines

The article is devoted to the problem of increasing the efficiency of the use of frequency adjustment of the hydraulic drive of the mechanisms for the movement of links of articulated manipulation systems of mobile transport-technological machines. Earlier, the authors showed that the type of law regulating the rotational speed of a volumetric pump shaft and its quantitative characteristics have a decisive influence on the type and quantitative characteristics of graphs of the time variation of the kinematic and hydraulic parameters of the links movement. A quantitative analysis of various laws of regulation is made on the example of the rotary movement of the link of a full-scale manipulation system. It is shown that the most favorable form of the law for changing the shaft rotation speed of the variable displacement pump is S-shaped. Criteria of quality of regulation are formulated, which make it possible to ensure favorable parameters of movement (absence of dynamic movement instability) taking into account the magnitude of the operating operational loads and structural dimensions of the links. Mathematical model is proposed, allowing to synthesize the laws of frequency adjustment, which are optimal for individual quality criteria – the minimum time to work out the movement (single-criterion optimization). A description of a computer program that implements the proposed mathematical models is given.