FIELD: crane control.
SUBSTANCE: invention relates to the field of control of crane installations with a suspended load arrangement, in particular-overhead cranes. Drives for moving the crane beam, trolley and lifting mechanism are actuators in the crane control system. The control system provides horizontal movement of cargo over a set distance and eliminates the pendulum oscillations of the suspended load, and it also provides the crane’s operation under conditions of a priori uncertainty of the parameters of the goods transported and the parameters of the crane, as well as countering uncontrolled external disturbances. For the current parametric identification, a recurrent least square method with a forgetting factor is used. The reference model is assigned in the form of an oscillatory link with an eigenfrequency not exceeding that for a control object with a fixed base, which is in the experimentally established range. The following sensors are used: those of displacement and speed of the crane trolley, of the angle of deflection of the load transfer from the vertical and of the linear acceleration of the load.
EFFECT: direct tracking of cargo transfer is achieved.
1 cl, 3 dwg
