Stacker cranes are widely used in automated warehouses. The actual task is to increase their energy efficiency and productivity. Simulation mathematical models are used for the solution of this problem at the stage of research and development works. We have developed a mathematical model of a rack stacker crane in long spatial displacements taking into account energy dissipation of linear coordinates of the cart and the cargo carriage. The model is a system of two second-order Lagrange differential equations. Partial derivatives of analytical expressions of kinetic and potential energies of the dynamic stacker crane system as well as dissipative Rayleigh function are used for derivation of the differential equations. Different values of dissipation coefficients for two linear coordinates of the stacker crane can be used. Using SimInTech we develop a simulation model of a conventional stacker crane based on the suggested system of differential equations and represented in the form of a block diagram. The developed simulation model is described and an example of its use is given. A complex model of a shelf stacker crane includes as a constituent part a procedure of determining time intervals of equivalent-accelerated motion of the links. Examples of time dependences of the crane bogie and cargo carriage coordinates, drive forces providing the set coordinate dependences, drives work and total work are given. The developed mathematical model of the stacker-crane can be used for the modelling of the processes of the cargo moving along the rack, its raising to the given height corresponding to the rack target cell, its lowering as well as for the estimation of the energy input of the crane.

Analyzes the change in the body roll angle during curvilinear motion according to the calculation and modeling options in the Matlab&Simulink system. The increase in the values of the required relative to the set angular stiffness of the suspension is investigated. The values of the roll angles of the van body are determined taking into account the required and set angular stiffness of the suspension. Mathematical models of the processes of the electromagnetic system of transverse stabilization have been developed in order to analyze the change in the roll angle of the GAZelle NEXT van with an electromagnetic stabilization system and with a conventional stabilizer during curvilinear motion. As a result of the research, it was found body roll reduction using an electromagnetic stabilization system for curvilinear motion. According to the results, the values of the roll angles obtained in the calculations in the mathematical modeling of the angles for the required stiffness, an assessment was made of the error in the deviation of the roll angles for the options. As a result of the curvilinear motion simulation, the effectiveness of using an electromagnetic stabilization system compared to conventional stabilizers was proven based on a comparison of roll angles.

Tracked chassis structurally consists of two or more traction circuits that perceive the evenly or unevenly distributed weight of the machine itself and the load from the ongoing technological operations. This article describes the results of mathematical modeling of the distribution of forces in the traction circuits of tracked chassis under conditions of variability in resistance to soil movement that occurs when the machine is operating at the junctions of soil layers, as well as in soils with a mixed composition. Depending on the geometric parameters of the tracked chassis (base and track) and the speed of its movement, each of the tracks within a single system can interact with soils of different levels of resistance, which leads to the phenomenon of running tracks, a sharp increase in the load on the engines as a result of turning the tracks and undercutting the layers of the soil layer, especially when using a separate drive. The results obtained can be applied in the process of designing control systems for tracked chassis of various transport and technological machines and complexes with the ability to control both the mechanical characteristics of drive motors and the tension of tracked belts inside the tracked circuits.

The weight of the load hanging on the boom of a railroad hydraulic crane KZH-971 creates a load moment that bends the crane slewing ring. To partially balance the load moment, a stationary counterweight is installed on the crane, rigidly fixed on a slewing platform. With an increase in the boom departure, the unbalanced part of the load moment and tensions in the slewing ring increases. In this article, to ensure a constant value of the unbalanced part of the load moment and reduce bending tensions, it is proposed to install a counterweight on the railroad crane with a telescoping system and the ability to rotate about the vertical axis for a work in cramped conditions. A strength analysis of the slewing ring for the change in maximum tensions from the use of a movable counterweight was carried out. An adaptive control system for the position of a movable counterweight has been modeled, with the help of which it will be possible to develop a device for convenient control from the crane operator’s cabin in the future. The advantages of using a movable counter-weight with the possibility of rotation relative the vertical axis are shown when performing loading and repair work in cramped conditions. The results of the strength analysis of the slewing ring with the location of loads in the main working positions are summarized.

The task of mathematical description and study of vibration isolation systems for seats of mobile machine operators is relevant, since operators of many construction, road and other mobile machines are exposed to significant vibration effects. An original analytical solution was proposed for the differential equation of forced oscillations of a linear oscillator with kinematic excitation, which describes the vertical oscillations of the seat with the operator, for given sinusoidal oscillations of the seat base. Analytical differentiation in time of the expression for the absolute displacement of the vibration-protected mass of the seat with the operator made it possible to obtain an analytical expression for the absolute velocity of the mass, the simplification of which made it possible to obtain a compact expression for the first and then the zero derivative of the absolute coordinate in the steady state oscillation mode. From the expression for the absolute displacement of the vibration-protected mass using a trigonometric transformation, an analytical expression for its amplitude was obtained, from which, in turn, an analytical expression for the transmission coefficient of the vibration protection system was obtained. The equation based on the analytical expression of the derivative of the transfer coefficient with respect to the circular frequency was solved analytically, which made it possible to obtain analytical expressions for the resonant amplitude of absolute displacements and the transfer coefficient. Examples of functional dependencies obtained using the derived analytical expressions are given. The obtained analytical expressions make it possible to conduct studies of vibration protection systems of seats with maximum accuracy.

Mobile transport and reloading rope units based on special self-propelled wheeled chassis with increased load capacity and cross-country capability are currently a promising type of rope transport technologies for logistics operations in difficult natural conditions, if necessary, their rapid deployment. However, the issues of designing and analyzing the work processes occurring in the main technological equipment of these units during the operation of single-span mobile ropeways of the pendulum type have not yet been sufficiently investigated. This article presents a mathematical model designed to perform a force calculation of the mechanism of rope fixation of the end tower during the opera-tion of a mobile transport and reloading rope unit. The model makes it possible to determine the magnitude of the force in the holding rope and the support reactions in the attachment points of the end tower and the rope winch, depending on the design dimensions of the mechanism and the tower, the operational load from the carrying-traction rope system of the mobile ropeway, the spatial orientation of the rope pulley and other parameters. The analysis of the obtained quantitative results of the test force calculation of the rope fixation mechanism of the end tower is also presented and appropriate recommendations are formulated.

In this study, the trend and magnitudinal changes of monthly and annual temperature was determined by applying the non-parametric Mann-Kendall, modified Mann-Kendall, and Sen’s slope tests in the Kofarnihon River Basin. Also, Pettitt’s test was used to analyze the changes during the 1951–2012 and 1979–2012 time periods. The study revealed that the seasonal temperature trend decreased in winter and significantly increased in spring. The mean annual temperature trend at all six climate stations exhibited an increasing trend during 1951–2012-time period. The decadal temperature trend at all stations varied from 0.36 °C/decade at Isambay station and –0.18 °C/decade at Anzob station. Abrupt change points in air temperature occurred around the 1970s in the low altitude areas and in the high altitude areas occurred around 2000.