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- Autors
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Loveikin V. S., Romasevych Yu. O., Stekhno O. V.
- Issue
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Hoisting and transport equipment, 2025, №2(70)
- Pages
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4-15
- DOI
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10.15276/pidtt.2.70.2025.01
- Abstract
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A scientific and applied problem was solved in the articles. It aimed to increase the efficiency of operation of the dynamic "crane-load" system of the tower crane slewing mechanism even when external stochastic disturbances (wind gusts) affect the load. The existing mathematical model of the movement of the dynamic "cart-load" system was used to conduct the research, which, based on the results of mathematical transformations, was simplified to a system of three linear differential equations.
In the given optimal control problem, asymmetric constraints on optimal control were used, and the problem was reduced to the problem of unconstrained minimization of the integral-terminal criterion. Since the solution of the problem was found in the closed-loop form, a control function was developed. It included the phase coordinates function vector and vector of parameters K1...K4. The general solution of the optimization problem consisted in finding the values of acceleration duration T and components K1...K4. The modified RING-ROT-PSO optimization method was used to solve the problem.
As a result of solving the optimization problem, the mode of movement of the dynamic "crane-load" system of the slewing mechanism was obtained, which eliminates the load's oscillations during acceleration to a steady velocity even when the system is affected by external stochastic disturbances. According to the results of the solution, the corresponding graphical dependencies characterizing the kinematic, dynamic and energy characteristics were built and their analysis was carried out.
- Keywords
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tower crane, slewing mechanism, dynamic systems, load, duration, RING-ROT-PSO
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