Scientific and Technical Journal

ELECTROTECHNIC AND COMPUTER SYSTEMS

ISSN Print 2221-3937
ISSN Online 2221-3805
OPTIMAL CONTROL OF CRANE MOVEMENT MECHANISM WITH SUSPENDED LOAD WHEN THE VALUE OF WAY IS GIVEN
Abstract:

Specific control of electric drive of crane horizontal movement mechanism with suspended load for high processing speed guaranteeing and for damping of the suspended load oscillations is researched. The new method of optimal control is consideredand suggested when the necessary value of trolley’s way is given. It is showed, that for reaching of given value of way it is necessary to secure the constant moment at four steps with changing of its sign. The general expressions of variables and also these expressions for the fourth step for deviation angle, its derivative, speed and way are written. The algorithm of calculation of the four steps time is described. The graphics, that illustrate the optimal in case of high processing for given masses of trolley and load, and also length of cable transient process in four steps of movement mechanism, that considers suspended load and guarantees its absolute calming at the end of this process, and also guarantees the reaching of necessary value of the trolley way.

Authors:
Keywords
DOI
10.15276/etks.15.91.2014.33
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