IMPROVEMENT OF METHODS OF MACHINE COMPLEXES CONTROL PROVIDING OPTIMIZATION
OF THEWORKING PROCESS OF THE PIPELAYING COLUMN 

Shcherbakov Vitaliy Sergeevich, Doctor of engineering sciences, professor, dean of the faculty of oil-and-gas
and construction technology, Siberian State Automobile and Highway Academy (5 Mira avenue, Omsk, Russia), sherbakov_vs@sibadi.org
Korytov Mikhail Sergeevich, Doctor of engineering sciences, professor, sub-department of construction materials and special technologies, Siberian State Automobile and Highway Academy (5 Mira avenue, Omsk, Russia), kms142@mail.ru
Shabalin Andrey Nikolaevich, Postgraduate student, Siberian State Automobile and Highway Academy (5 Mira avenue, Omsk, Russia), andreishabalin@mail.ru 

621.86./87. 

Background. Safety of the working process of load-lifting cars is a topical problem for the following reasons: first, a person involved in production has to be confident in safety; secondly, emergencies lead to big financial expenses.
Materials and methods. For safety of production of load-lifting cars the there was created a set of various devices and systems of safety intended to preserve stability of load-lifting cars which principle of action is based on restriction of the load moment created by the crane itself. This approach is applicable for a case of operation of the separate car with own single freight. In working process of a set of cars with the general freight there are features which make all these devices ineffective as autonomous and independent increase of stability of one car by existing devices, as a rule, causes decrease in stability of all other cars. All impacts on the crane-pipe layer may be divided ino thigh-frequency and low-frequency ones.
Results. For compensation of low-frequency impacts the authors created a system of automatic control, for compensation of high-frequency impacts the researchers created a device of stabilization of the load moment since due to the delay of the hydraulic actuator the control system doesn't manage to deal with high-frequency impacts.

pipelaying column, set of cars, crane pipe layer, control system, stability moment, settlement scheme, uniform coordinates. 

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part 3, pp. 42–45.
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