Synthesis of the optimal controller of the „crane-load” system movement. Part 1

Romasevych Yu. O., Loveikin V. S., Pilipenko A. P., Makarets V. V
Hoisting and transport equipment, 2020, №3(64)
One of the problems in the operation of cranes is elimination of the oscillations of the load on the flexible suspension. They occur during crane movement, as well as under the action of external stochastic influences (wind gusts). The load oscillations are accompanied with increasing of duration of the crane movement cycle. It negatively affects the productivity of the crane, as well as causes additional energy losses. The paper presents a method of the mentioned problem solving by synthesizing the optimal controller of crane movement. A two-mass crane-load model was used to synthesize the optimal controller. The problem statement uses constraints on the driving force, which is associated with the overload capacity of the drive mechanism, the rate of driving force change (it is related to the constraint on the rate of the current increasing in the frequency converter, which acts as a power source for the drive) and the constraint on the speed of the crane. In the article the optimal controller firm was proposed. In addition, domain boundaries of the coefficients of the controller, which allowed ensuring the stability of the control, were found. In order to determine these domain boundaries, the Raus-Hurwitz stability criterion was used.
load oscillations, control device, motion stability, synthesis, optimization.
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