Abstract
The article considers the optimal speed-optimal control of the tower crane turning mechanism. A calculation scheme has been compiled according to which a mathematical model has been obtained that describes the operation of the boom rotary crane - cargo system. Solutions of the system of equations are obtained and phase coordinates are chosen, according to which the motion of the considered mechanical system is studied. Using the maximum principle, the laws of change of the control parameter are substantiated, taking into account the engine torque and the speed-optimal law of motion of the turning mechanism, which is the main scientific novelty of this article. On the example of a crane on a column with a lifting capacity of 5 tons, phase trajectories are calculated and graphs are plotted for changing the dynamic characteristics of the rotation mechanism that is optimal in terms of speed.
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