DOI: https://doi.org/10.15407/techned2018.04.131
SYNTHESIS AND ANALYSIS OF MODAL CONTROL SYSTEM FOR CRANE MECHANISM MOTION TAKING INTO ACCOUNT THE WORK OF LIFTING MECHANISM
Journal |
Tekhnichna elektrodynamika |
Publisher |
Institute of Electrodynamics National Academy of Science of Ukraine |
ISSN |
1607-7970 (print), 2218-1903 (online) |
Issue |
No 4, 2018 (July/August) |
Pages |
131 – 134 |
Authors O.I. Tolochko1*, A.M. Ryzhkov2** 1 – Sikorski Kyiv Polytechnic institute, pr. Peremohy, 37, Kyiv, 03056, Ukraine, e-mail:
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2 – Institute of Electrodynamics National Academy of Sciences of Ukraine, pr. Peremohy, 56, Kyiv, 03057, Ukraine, e-mail:
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* ORCID ID : http://orcid.org/0000-0002-6871-0653 ** ORCID ID : http://orcid.org/0000-0002-0011-9402
Abstract
The control system for crane mechanism with feedback over full order state vector is synthesized. This system applied to motions of crane mechanism with load suspended on a flexible rope. In addition, this system taking into account changes of rope length of lifting mechanism when it working. The Luenberger-observer was synthesized for estimation swing angle and angular speed of this movement. Analysis of designed modal control system was performed with mathematical modelling method. References 4, figures 5.
Key words: modal control, crane, lifting mechanism, Luenberger observer.
Received: 02.03.2018 Accepted: 12.04.2018 Published:
References
1. Chang C.Y. The switching algorithm for the control of overhead crane. Neural Computing & Applications. 2006. Vol. 15. Pp. 350-358. DOI: https://doi.org/10.1007/s00521-006-0036-z 2. Buch A. Optimale Bewegungssteuerung von schwingungsfahigen mechatronischen Systemen mit zwei Freiheitsgraden am Beispiel eines Krans mit Pendelnder Last und elastischer Mechanik. Magdeburg, 1999. 250 p. 3. Moustafa K.A.F. Feedback control of overhead cranes swing with variable rope length. American Control Conf. Baltimor, Mariland, 1994. Pp. 691-695. DOI: https://doi.org/10.1109/ACC.1994.751828 4. Park H., Chwa D., Hong K.-S. A feedback linearization control of container cranes: varying rope length. International Journal of Control, Automation, and System. 2007. Vol. 5. No 4. Pp. 379-387.
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