Dynamics of a mobile crane and optimisation of the slewing motion of its upper structure

In the paper the 3-D model of a telescopic mobile crane is presented. In the model flexibilities and damping have been taken into account and also the number of degrees of freedom can be chosen according to the complexity of an approach. The algorithm of optimisation of drive functions for the slewing upper structure is given. The main goal of optimisation was to ensure load positioning at the end point of a work cycle in the case when oscillations are minimal. In order to achieve appropriate numerical effectiveness, the optimisation problem was solved for the simple, fully rigid model of a mobile crane. The method of compensating neglected flexibilities of the base structure of the crane and inner disturbances connected with the feedback control system via digital PID controller is presented.