Аналіз експериментальних досліджень оптимального керування рухом механізму переміщення візка баштового крана

Abstract

The article describes the laboratory model of the tower crane boom system, measuring and recording equipment (sensors, data collection system, power supply, etc.), power control equipment (frequency inverter), and software for data collection and for the frequency inverter control. Planning of experiments for investigation of optimal control of lab model movement was carried out. All experiments are divided into two series: for time optimal control and for control optimal by the integral criterion. For the first series of experiments, the weight of the load (has been varied at three levels) and the length of the flexible suspension (has been varied at two levels) acted as independent factors. For the second series of experiments, one more independent factor was taken into account ‒ the duration of the trolley acceleration (deceleration). This factor has been varied at three levels. The analysis of experimental studies was carried out in terms of variation indicators (deviation of theoretical and experimental data) and graphical dependencies. The results of the analysis showed a sufficiently high convergence of the data obtained during the experiments with those that were obtained by calculation. The existing deviations are caused by the inaccuracy of setting the parameters of the system, the failure to take into account all the significant factors affecting the movement of the system, as well as poor-quality implementation of control with rapid changes in the speed of the trolley movement. Recommendations are given that will eliminate the described factors and ensure further improvement of the technique for implementing optimal control in practice