Optimization of Tower Crane Slewing Mechanism Control

Kovalenko, Valentyn; Коваленко, Олег Анатолійович; Stryzhak, Vsevolod; Svirgun, Volodimir; Stryzhak, Mariana

doi:10.20998/2078-6840.2022.1.10

Cited by 2 publications

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“…V. Kovalenko et al (2022) developed a control law for the crane control mechanism to rotate the boom with a load to a given angle φ in the shortest possible time, and at the end of the working cycle, the load should not oscillate. The problem of synthesising the laws of motion of the mechanism with optimal performance is solved by the methods of optimal control theory, namely, using the maximum principle.…”

Section: Resultsmentioning

confidence: 99%

Propeller thrust tower crane slewing mechanism model identification

Romasevych,

Hubar

2023

Tehnìka ta energetika

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Any study of the dynamics and control of mechanical systems is based on adequate mathematical models that contain the dynamic parameters of the system under study. Their evaluation, in particular for the tower crane boom system, is a particularly relevant scientific and practical problem, the solution of which will provide the basis for further calculations of the optimal modes of movement of the tower crane slewing mechanism. The research aims to determine the dynamic parameters of the installation (moment of inertia of the slewing mechanism J, torque of dry friction forces M0, driving torque coefficient K1) and to plan experimental studies. The experimental method, numerical optimization methods (in particular, the modified Rot-Ring-PSO method), and statistical methods were used to conduct the research. Based on the results of the experiments, the dynamic parameters of the mathematical model of the laboratory installation of the tower crane slewing mechanism with propeller thrust were identified. The criterion that evaluates the identification error of the parameters K1, M0, and J was formed and minimized using the Rot-Ring-PSO algorithm. Plots of the kinematic characteristics of the movement of the boom system in terms of the angle of rotation of the boom and the speed of rotation of the boom were constructed. When processing the experimental data, the dependence of the error values on the supply voltage of the propeller drive was revealed. The error in the boom rotation speed at the drive supply voltage of 90% (compared to the voltage variant of 40%) decreased by almost 15%, and the error in the boom rotation angle at the drive supply voltage of 90% (compared to the supply voltage variant of 40%) decreased by almost 3 times. The regularity has been confirmed that with an increase in the supply voltage, the error value of the system decreases. In the course of processing the experimental studies, the dynamic parameters of the installation were identified: K1=4.80‧10-8 V/(rpm)2, M0=34.519 Nm, J=24.21 kgm2. The obtained results will be used to optimise the plant’s motion modes, and the developed identification algorithm can be used for other similar problems

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Section: Resultsmentioning

confidence: 99%

Propeller thrust tower crane slewing mechanism model identification

Romasevych,

Hubar

2023

Tehnìka ta energetika

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“…This allows us to determine parameters K 1 = 4.80 • 10 -8 W/(rpm) 2 , М 0 = 34.519 Nm, J = 24.21 kgm 2 for this particular motor voltage level for further calculations of optimal driving modes. V. Kovalenko et al (2022) developed a control law for the crane control mechanism to rotate the boom with a load to a given angle φ in the shortest possible time, and at the end of the working cycle, the load should not oscillate. The problem of synthesising the laws of motion of the mechanism with optimal performance is solved by the methods of optimal control theory, namely, using the maximum principle.…”

Section: Conflict Of Interestmentioning

confidence: 99%

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2023

Tehnìka ta energetika

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The research is devoted to the topical problem of the efficiency of turning wide-span bridge machines in the track farming system. The research aims to study the curvilinear movement along the soil traces of a constant technological track of an arbitrary multi-supported bridge machine, considering its design and method of turning, parameters, modes of movement and loading. Experimental studies were conducted, involving the use of a modern strain track and specially designed equipment for electrical measurements of non-electrical quantities. The processing of research data was carried out on a personal computer. A methodology for compiling private models of turning off the bridge vehicle moving along the soil trace of the constant technological track was developed. As a result of the joint solution problem of the bridge machine turning, it is possible to determine all output parameters of curvilinear motion: trajectory, tractive forces, turning radius, slipping, and actual speeds. The force interaction of the bridge machine's undercarriage with the soil trace of a constant track is presented based on flat sliding with a variable anisotropic friction coefficient of adhesion φ yd , depending on the properties of the track. As the radius of the wheel, the width of its tire and the air pressure in it, as well as the vertical load that acts on it, the coefficient of traction of the bridge machine φ yd increases, which may cause higher slippage. The adequacy of the model of stationary turning of the overhead machine is confirmed by experimental estimation of the

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Optimization of Tower Crane Slewing Mechanism Control

Cited by 2 publications

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Propeller thrust tower crane slewing mechanism model identification

Propeller thrust tower crane slewing mechanism model identification

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