Computer simulation of the general stability loss of the mobile transport and technological machines equipped with boom lift manipulator

The mathematical models and methods of computer modeling of the process of stability loss (overturning) for mobile transport and technological machines equipped with boom lift manipulators are under consideration in this article. This mobile machines are equipped with outriggers, including built-in anchor devices based on piercing the soil of the working elements. The simplest mathematical model, which is a second-order differential equation with respect to the angle of rotation of the system around the center of gravity, allows you to simulate the process of tipping when the manipulator is overloaded, caused by a sharp increase in the load moment or a hurricane gust of wind. However, this model is not informative for practice, as it is more important f to prevent an emergency situation with the rollover of a mobile transport and technological machine than to analyze in advance how it will happen. Therefore, the original model was modified. It's taking into account the interaction of the anchor device with the ground in the framework of the dynamic system «load – boom lift manipulator – base chassis – outriggers – anchor devices – support ground». The model takes into account possible variants of initial soil compaction in the area of the outrigger anchor device implementation, which causes a change in its stiffness characteristics used in the simulation. Using proposed in the article approaches performed computer modeling of buckling of the crane Fassi M30A.13, mounted on a truck chassis GAZ-Next.