Studies of the Identification Control System of an Overhead Crane on its Layout

Abstract

The construction of a control system for a bridge crane operating in conditions of current parametric uncertainty and the impact of external disturbances, in particular, the impact of wind, is considered. The proposed control system is based on a scheme with an algorithm for current parametric identification, assigned an implicit reference model, which expresses requirements for the behavior of the carried load, with formation of a given speed of movement of the bridge crane trolley. The latter corresponds to the use of servo drives on modern cranes, in particular, based on asynchronous electric motors. The peculiarity of the proposed control system is that the sensor determining the coordinates of the cargo suspension movement is a combined sensor, which includes an angular velocity sensor and an accelerometer, and is located on the suspension next to the crane trolley. Described is a wall-mounted uniaxial model of a bridge crane created in laboratory conditions to study the proposed control method. Its control system comprises an asynchronous motor with an encoder controlled from a frequency converter and a programmable logic controller, which correspond to equipment of real crane control systems. The results of the study of the proposed control system in comparison with conventional manual control are presented. Investigations include movement to target point of two-variant load and empty suspension with two suspension lengths. The studies were carried out for vector control of a closed-loop electric motor and open-loop vector control without using an encoder.