Investigation of dynamics of excavator digging mechanism with additional drive

[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.

[发布机构] Irkutsk National Research Technical University, 83 Lermontov St., Irkutsk; 664074, Russia^1;SLC-JH Ltd., Mira St. 101 bld, Moscow; 129085, Russia^2

[效力级别] 电工学

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