OPTIMIZATION CONTROL OF CONTAINER CRANES ELECTRIC DRIVES AT COORDINATED OPERATION OF THE MECHANISMS
To optimize the container cranes were considered the application of time-optimal control law mechanism for horizontal movement in conjunction with the operation of the drive pull-up rope to suppress the oscillation of the load. Optimality criterion realized by acting on the suspension point of the rope force , the law changes which formed the basis of the main goals of the task management - to ensure the end of the transient sedation cargo and vertical position of the rope: the speed of the suspension point and load at the end of the transition process should be equal, and acceleration and deviation from the vertical rope must be zero. By including the control system of the observer mechanism of movement with electric cables and pull-up speed control perfect idling of these drives can be effectively obtained by a combination of time-optimal control laws and Jitter cargo. Such a model is a mechanism built into the control system as a generator of control signals to the drive mechanism and movement signals for the pull-up electric cables. The studies demonstrated that the combination of these control laws effectively suppress fluctuations cargo arising as a result of defining and disturbances, as well as due to errors in determining the parameters of the mechanism.