FIELD: control.
SUBSTANCE: proposed invention relates to control over crane installations with suspended arrangement of cargo, in particular – overhead cranes. When controlling the overhead crane, the proportional part of the PD-controller generates a preset speed, which is directly proportional to the error in the positioning of the load, differential part generates additional preset speed directly proportional to angular velocity of cargo suspension filtered on low-pass filter. Parameters of the regulator are set on the basis of passport data of the overhead crane: maximum length of suspension and maximum speed of servo drives, as well as distance to the target point of cargo delivery and its height. Information sensors used are a combined sensor in the form of an accelerometer and an angular velocity sensor placed on the suspension cable near the crane trolley, as well as encoders which determine the position of the trolley and the crane beam. For the accelerometer and the angular velocity sensor, a mandatory initial procedure for determining the zero shift for the first and drift for the second one with subsequent compensation thereof is required.
EFFECT: improved properties of the crane control system based on the PD-controller, which determines the preset speed of servo drives of the trolley (beam), as well as development of recommendations for adjusting the controller parameters based on the nameplate data of the overhead crane and coordinates of the target point.
1 cl, 4 dwg
