Experimental studies of load vibrations when moving the DEC-251 loading crane

Measurement of the parameters of vibrations of the load moved by a self-propelled crane with a flexible rope suspension when the crane moves along an unprepared construction site with irregularities is an urgent task, since it will allow using the obtained numerical values of the vibration parameters to improve the accuracy of the crane's operation in terms of moving loads. Based on the solution of this problem, it is possible to create systems for automatic damping of cargo vibrations. This will reduce the time spent on performing a work step when moving a load. This also solves the problem of reducing the dynamic loads on the elements of the crane. The article discusses one of the methods for determining the angles of deviations of the point of the load and the point of suspension of the load on the boom when moving the DEK-251 mobile crane along the unevenness of the construction site using the projection-polynomial mathematical model of the optoelectronic system. As an example, the article presents a number of graphs of time dependences of changes in the values of the angles of deviations of the load and the point of suspension of the load when moving over the unevenness of the site of a crane with a boom length of 22 meters and an angle of inclination of the boom of 48 degrees. The cargo was at a height of 4.8 meters, the weight of the cargo was 200 kilograms. The graphical time dependences of the load fluctuations and the load suspension point in the longitudinal plane are given in the form of angles of deviations from the lens center, taking into account the microrelief. The data allows you to calculate the linear coordinates of objects in space. Moreover, the results were obtained taking into account the camera errors.