Bridge crane adaptive control in transferring a long vertically positioned load

The paper considers a problem of automating control over the bridge crane trolley when transferring a long vertically positioned load under conditions of partial uncertainty in the current time of the control system parameters, load and uncontrolled disturbances. Such problems include transporting piles at the construction sites, turbine rotors at the hydroelectric power plants and other structures, where it is necessary to accurately position the transported load lower edge at the target point. A solution to the problem is proposed based on the two-pendulum model of the bridge crane suspension system with direct monitoring of the load motion. To build the adaptive control system, a scheme was introduced with an algorithm of current parametric identification, an implicit reference model and the “simplified” adaptability conditions. Based on analyzing stability in the closed-loop control system, requirements to the reference model were determined. Results of the proposed solution model studies are presented with significant variations in the transported load and control system parameters and under action of disturbances and noise from the information sensors.

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