Vertical movement of cargo on a crane installation for optimal damping of pendulum oscillations of the cargo rope

It is considered the task of damping oscillations of suspended load on crane by means of vertical movement of load cyclic in stroke of pendulum oscillations with preservation of average length of cargo rope. The problem is solved in an optimization formulation: it is necessary to achieve the greatest effect of damping the pendulum oscillations of the load under conditions of limitations of the maximum speed of vertical movement of the load and the acceleration-braking time of this movement, which is typical for modern crane control systems with asynchronous servo drives and frequency converters. The solution was found based on the optimization approach on a linearized model with simplified settings. The obtained dependences of the formation of acceleration and the speed of vertical movement of the load depend on the signature and phase of the signal, equal to the product of the angle of deviation of the load rope from the vertical and its angular velocity, called the conditional angle of double frequency. Based on the obtained conclusions, it is proposed to lift a swinging load with a variable lifting speed so as not to cause swinging of the load. Restrictions on the use of the method in question are also indicated. The conclusions obtained were tested on a computer model and on an experimental installation.
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