Özet:

The analysis of the ship-to-shore crane behavior during the horizontal load movement in two coordinates and a simultaneous load lowering or hoisting was performed. For this operation mode, anti-sway control method for the load, suspended by a rope, which is invariant to the ratio of the masses and hoisting speed was proposed. The analysis of the interaction of technological mechanisms with the pull-up rope drives, suppressing load vibrations, caused by disturbance and measurement errors of the load parameters was carried out. By including the movement mechanism observer with the pull-up rope drives and the correction unit of the rope length and lowering/hoisting speed in the control system, a control method that is insensitive to the suspension length measurement errors without using load position sensors was proposed. As a result, a combined method of coordinated drive control to effectively suppress load vibrations during starting/braking of horizontal movement mechanisms, when using which there are no vibrations in steady-state conditions was developed. This allows to position the load at given points and as a result - include the crane in the automated container terminals. Author Biographies Виктор Владимирович Бушер, Odessa National Polytechnic University 1, ave. Shevchenko, Odessa, Ukraine, 65044 Associate Professor, Doctor of Technical SciencesDepartment of electromechanical systems with computer control

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