Drive power minimization of outreach change mechanism of tower crane during steady-state slewing mode

The variational problem of the movement mode selection for load outreach change mechanism during a steady-state tower crane slewing was formulated and solved in paper, that ensures minimization drive motor power. We used dynamic model research work, which presented mechanical system with three degrees freedom. is nonlinear, so we modified PSO-Rot-Ring particle swarm metaheuristic method its solution. analytical solution another same an optimization criterion close physical content as initial approximation nonlinear to save calculated resources. starting determined problem, root-mean-square value Low- high-frequency oscillations elements start-up were detected process. first are caused by rocking on flexible suspension start-up, second – nature driving moment These eliminated section due motion boundary conditions, taken into account process problem.