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- Autors
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Romasevych Yu. O., Loveikin V. S., Pilipenko A. P., Makarets V. V.
- Issue
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Hoisting and transport equipment, 2021, №1(65)
- Pages
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4-16
- DOI
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10.15276/pidtt.1.65.2021.01
- Abstract
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One of the main reasons for the decrease in the productivity of cranes is the oscillation of the load on the flexible suspension. Load oscillations occur in transient modes of movement of a crane truck with a suspended load and when the load is exposed to wind gusts. Vibration damping requires a significant amount of time and energy, which negatively affects the performance of the crane and can create a danger during its operation.
The article presents the solution of the problem of synthesis of the optimal motion controller of the crane-load system. The following constraints were used for the synthesis of the optimal controller: the magnitude of the driving force, the rate of change of the driving force and the limit on the reverse. A comprehensive integral-terminal criterion has been developed for this purpose. The optimal values of the controller coefficients were determined using the modified ME-PSO particle swarm method.
The obtained calculation results are presented in the form of graphical dependences. The analysis of the dynamics of the movement of the system "crane-load" with optimal controll of a set of evaluation indicators such as: speed of the system, effort and power.
- Keywords
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optimization, ME-PSO, controller, integral-terminal criterion, MISO-function.
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