MOVEMENT OPTIMAL MODES ANALYSIS AND SYNTHESIS OF TRACKED VEHICLES LOAD-LIFTING MECHANISMS PART II. ENERGY-SAVING MODES OF STARTING THE LIFTING MECHANISM ACCORDING TO VARIOUS CRITERIA

A comprehensive analysis of tracked vehicles load-lifting mechanisms optimal start-up modes is carried out in the work. On its basis, energy-saving starting modes of the lifting mechanisms under various energy-force criteria are synthesized. New, direct variational methods developed by the authors are presented, which use in engineering calculations allows to optimize the motion modes of a mechanical system presented by a two-mass dynamic model, with the application of energy-force type criteria which are presented in the form of integral functionals.Recommendations on the selection of criteria and terminal (initial and final) conditions for the cargo-lifting mechanism starting, which are able to provide optimal (energy-saving) movement modes of tracked vehicles load-lifting mechanisms are developed. It is this approach allows you to implement not only an energy-saving (in the sense of minimization), but also a smooth start-up mode, without significant fluctuations of the rope system with the load, transfers the lifting mechanisms to a state in which, after the start, the load moves evenly and in a straight line. Methods are used for the analysis and synthesis of the above optimal modes of the tracked vehicles load-lifting mechanisms: 1) spline functions over time; 2) classical variational calculus; 3) physical-mechanical and mathematical modeling; 4) differential and integral calculus.