The simulation model of the grapple loader operation

The main objective of the study was to develop a simulation model for the operation of the T-214 CYKLOP grapple loader using the MATLAB package. The created model allowed assessment of the behaviour of the real object in the operating conditions under variable loads and in the system overload. The simulation of the boom operation was carried out in four combinations: (1) at power take-off speed = 1000 rpm without load and (2) at 1000 kg load, (4) at power take-off speed = 540 rpm without load and (4) at 1000 kg load. The results show that the system works properly. The correct functioning of the system is evidenced by the fact that changes in force and acceleration occur on both pistons when only one of the cylinders is operating (the cylinder at rest acts as a shock absorber for the forces resulting from the inertia of the arms and the load). Apart from the increased forces on the pistons of the hydraulic cylinders, the additional load resulted in a slight reduction in acceleration values and an increase in the time needed to change the arm tilt angles.