Optimal Control of the Crane System Using the Maximum Speed of the Trolley

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  • トロリーの最大速度に注目したクレーンの最適運転法
  • トロリー ノ サイダイ ソクド ニ チュウモクシタ クレーン ノ サイテキ ウ

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Abstract

In the control of a crane system (for example, an ore unloader), the following requirements must, be satisfied.<br>(1) The traversing time of the trolley must be reduced as much as possible.<br>(2) The swing of the grab must be stopped at the end point.<br>For these requirements, we divide the traversing interval into three parts, that is, the accelerating interval, the interval of constant speed and the decelerating interval.<br>In the interval of constant speed, the trolley runs at the maximum speed under a condition that the grab has no swing, and in the other intervals, the traversing time is minimized by the minimum principle.<br>Assuming that the rope length is constant, we show a table by which an optimal switching time can be achieved. The utility of the proposed scheme is demonstrated by using a model of the crane system.<br>Alsop et al. proposed a similar control scheme, but the traversing time was not optimized.

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