CONTROL OF A ROTARY CRANE BY A COMBINED PROFILE OF SPEEDS

Original scientific paper In this paper a standard (Paul's) form of dy namic model for the control of a rotary crane that makes simultaneousl y three kinds of motion (rotation, load hoisting and boom hoisting) is derived. For the nominal (an open loop) control of these motions a co mbined profile of speeds is used. It is defined by a corresponding wei ght parameter epsilon. Computer simulation results of the crane motion (such as graphs of control torques and tracking errors) are given for different weight parameters. The aim of the paper is to elaborate tha t region of the weight parameter which is most acceptable for use in t he real control conditions regarding the amplitude constraints and the smoothness of graphs of control torques as well as the values of trac king errors.