Load positioning during the slewing motion of a crane

被引：0

作者：

Maczynski, A ^{[1
]}

Wojciech, S ^{[1
]}

机构：

[1] Univ Bielsko Biala, Dept Mech & Comp Methods, PL-43309 Bielsko Biala, Poland

来源：

8TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL VIII, PROCEEDINGS: CONTROL, COMMUNICATION AND NETWORK SYSTEMS, TECHNOLOGIES AND APPLICATIONS | 2004年

关键词：

rotary crane; dynamics; load positioning; optimization; control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A method of determining drive functions of slewing of a mobile crane's upper structure is presented in the paper. The purpose of the investigation is to reduce load oscillations at the end of the motion. Drive functions for selected angles and durations of slewing have been calculated using a simple model of the crane and dynamic optimization. Drive functions for intermediate angles have been determined by means of interpolation. Results of numerical simulations are presented, taking into consideration flexibilities and damping in the crane's subsystems. Results obtained for drive functions deter-mined using optimization and interpolation algorithms are compared. Simulations for a system without and with a PID controller have been carried out. An attempt to determine sensitivity of load positioning to selected operating parameters is also presented.

引用

页码：241 / 246

页数：6

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