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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: Этот e-mail адрес защищен от спам-ботов, для его просмотра у Вас должен быть включен Javascript
2 – Institute of Electrodynamics National Academy of Sciences of Ukraine,
pr. Peremohy, 56, Kyiv, 03057, Ukraine,
e-mail: Этот e-mail адрес защищен от спам-ботов, для его просмотра у Вас должен быть включен Javascript
* 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.