СИНТЕЗ ТА АНАЛІЗ СИСТЕМИ МОДАЛЬНОГО КЕРУВАННЯ КРАНОВИМ МЕХАНІЗМОМ ПОСТУПАЛЬНОГО РУХУ З ВРАХУВАННЯМ РОБОТИ ПІДІЙМАЛЬНОГО МЕХАНІЗМУ

O.I. Tolochko; O.M. Ryzhkov

doi:10.15407/techned2018.04.131

No. 4 (2018), Electrotechnological Complexes and Systems

No. 4 (2018)

Electrotechnological Complexes and Systems

SYNTHESIS AND ANALYSIS OF MODAL CONTROL SYSTEM FOR CRANE MECHANISM MOTION TAKING INTO ACCOUNT THE WORK OF LIFTING MECHANISM

Published 2022-12-11

https://doi.org/10.15407/techned2018.04.131

O.I. Tolochko⁺⁻
O.M. Ryzhkov⁺⁻

O.I. Tolochko

National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute, pr. Peremohy, 37, Kyiv, 03056, Ukraine

https://orcid.org/0000-0002-6871-0653

O.M. Ryzhkov

Institute of Electrodynamics of the National Academy of Sciences of Ukraine, pr. Peremohy, 56, Kyiv, 03057, Ukraine

https://orcid.org/0000-0002-0011-9402

ARTICLE_27_PDF (Українська)

Keywords

modal control
crane
lifting mechanism
Luenberger observer модальне керування
кран
підіймальний механізм
спостерігач Люенбергера

How to Cite

[1]

Толочко, О. and Рижков, О. 2022. SYNTHESIS AND ANALYSIS OF MODAL CONTROL SYSTEM FOR CRANE MECHANISM MOTION TAKING INTO ACCOUNT THE WORK OF LIFTING MECHANISM. Tekhnichna Elektrodynamika. 2018, 4 (Dec. 2022), 131. DOI:https://doi.org/10.15407/techned2018.04.131.

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.

https://doi.org/10.15407/techned2018.04.131

ARTICLE_27_PDF (Українська)

References

Chang C.Y. The switching algorithm for the control of overhead crane. Neural Computing & Applications. 2006. Vol. 15. Pp. 350-358.

Buch A. Optimale Bewegungssteuerung von schwingungsfähigen mechatronischen Systemen mit zwei Freiheitsgraden am Beispiel eines Krans mit Pendelnder Last und elastischer Mechanik. Magdeburg, 1999. 250 p.

Moustafa K.A.F. Feedback control of overhead cranes swing with variable rope length. American Control Conf. Baltimor, Mariland, 1994. Pp. 691-695.

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.