Simulation of Crane Trolley Motion Control to Reduce Load Sway

Abstract

Abstract the work aims to develop a method for controlling a crane trolley, providing a decrease in the swinging of the load on the rope at a given positioning accuracy and minimum time for moving the load. Computer simulation of the trolley controlled movement with a load on a rope was carried out within the "Universal Mechanism" software. The 2D computer model includes a trolley with a pulley, a rope with a hook, and a load. T-force represents the wind force effect. The control system (CS) contains three blocks that ensure the movement of the trolley with limited speed and acceleration, the positioning accuracy of the trolley, limiting the deviation and acceleration of a load. List of requirements for the crane CS comprises six issues. The simulation results illustrate the satisfactory performance of the proposed method. The swing angle and trolley positioning accuracy can be controlled within the acceptable range and the external wind disturbance on the load can be successfully suppressed. The optimal parameters of the proportional-differential corrective control, which ensure the minimum travel time of the trolley with limited oscillation of the load, have been determined. The optimal values of the control parameters depend on the inertial characteristics of the load. The maximum permissible values of speed, acceleration, and positioning errors of the trolley limit from above the optimal values of the control parameters.