title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÑÐ°Ð½Ð¾Ð¼ Ñ ÐºÐ¾Ð¼Ð¿ÐµÐ½ÑÐ°ÑÐ¸ÐµÐ¹ ÑÐ°ÑÐºÐ°ÑÐºÐ¸ Ð³ÑÑÐ·Ð° Ð¸ Ð¿ÐµÑÐµÐºÐ¾ÑÐ° Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð¹ Ð±Ð°Ð»ÐºÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of a crane control system with compensation of load shake and bridge beam warning
Creators: name: ÐÐ¾Ð¼Ð°ÑÐ¾Ð², ÐÐ»ÐµÐºÑÐ°Ð½Ð´Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÐÐ¾Ð´ÑÐµÐ¼Ð½ÑÐµ ÐºÑÐ°Ð½Ñ Ð¼Ð¾ÑÑÐ¾Ð²ÑÐµ
ÑÐ°ÑÐºÐ°ÑÐºÐ° Ð³ÑÑÐ·Ð°
Ð½ÐµÑÐµÑÐºÐ°Ñ Ð»Ð¾Ð³Ð¸ÐºÐ°
load swing
fuzzy logic

description: Ð Ð¾Ð±ÑÐµÐ¼ Ð²Ð¸Ð´Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð³Ð¾ ÐºÑÐ°Ð½Ð° Ð¾ÑÐµÐ½Ñ Ð¿ÑÐ¾ÑÑÐ°, Ð¸Ð·-Ð·Ð° ÑÐµÐ³Ð¾ ÑÐ°ÐºÐ¾Ðµ ÑÐµÑÐµÐ½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ ÑÐ²Ð»ÑÐµÑÑÑ Ð´Ð¾ÑÑÐ°ÑÐ¾ÑÐ½Ð¾ Ð½Ð°Ð´ÐµÐ¶Ð½ÑÐ¼. Ð¡ÐµÐ¹ÑÐ°Ñ Ð¿ÑÐ¾Ð¸ÑÑÐ¾Ð´Ð¸Ñ Ð¼Ð¾Ð´ÐµÑÐ½Ð¸Ð·Ð°ÑÐ¸Ñ ÐºÑÐ°Ð½Ð¾Ð² Ð¿Ð¾Ð´Ð¾Ð±Ð½Ð¾Ð³Ð¾ ÑÐ¸Ð¿Ð° Ð¸ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ðµ Ð½Ð¾Ð²ÑÑ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹. ÐÐ¾ Ð¿Ð¾-Ð¿ÑÐµÐ¶Ð½ÐµÐ¼Ñ, ÐºÐ°Ðº Ð¸ ÑÐ°Ð½ÑÑÐµ, ÑÑÑÐµÑÑÐ²ÑÑÑ Ð´Ð²Ðµ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ñ, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð½Ðµ Ð¸Ð¼ÐµÑÑ Ð¼Ð°ÑÑÐ¾Ð²Ð¾Ð³Ð¾ ÑÐµÑÐµÐ½Ð¸ÑÂ â ÑÑÐ¾ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ Ð¸ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¿ÐµÑÐµÐºÐ¾ÑÐ° Ð½ÐµÑÑÑÐµÐ¹ Ð¼ÐµÑÐ°Ð»Ð»Ð¾ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ ÐºÑÐ°Ð½Ð° Ð¿ÑÐ¸ ÐµÐ³Ð¾ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ Ð¿Ð¾ Ð¿Ð¾Ð´ÐºÑÐ°Ð½Ð¾Ð²ÑÐ¼ ÑÐµÐ»ÑÑÐ°Ð¼ Ð¸ ÑÑÐµÐ·Ð¼ÐµÑÐ½Ð¾Ðµ ÐºÐ°ÑÐµÐ½Ð¸Ðµ Ð¿Ð¾Ð»ÐµÐ·Ð½Ð¾Ð³Ð¾ Ð³ÑÑÐ·Ð°, ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ¸ÑÑÐµÐ¼Ð¾Ð³Ð¾ ÐºÑÐ°Ð½Ð¾Ð¼.ÐÐ±ÑÐµÐºÑÐ°Ð¼Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð² ÑÐ°Ð±Ð¾ÑÐµ ÑÐ²Ð»ÑÑÑÑÑ ÑÐ¿Ð¾ÑÐ¾Ð± Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸ ÐºÐ¾ÑÑÐµÐºÑÐ¸ÑÐ¾Ð²ÐºÐ¸ Ð¿ÐµÑÐµÐºÐ¾ÑÐ° Ð½ÐµÑÑÑÐµÐ¹ Ð±Ð°Ð»ÐºÐ¸ Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð³Ð¾ ÐºÑÐ°Ð½Ð° Ð¾Ñ Ð¿ÐµÑÐ¿ÐµÐ½Ð´Ð¸ÐºÑÐ»ÑÑÐ° Ðº Ð²ÐµÐºÑÐ¾ÑÑ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ Ð¸ ÐºÐ¾Ð¼Ð¿ÐµÐ½ÑÐ°ÑÐ¸Ð¸ ÑÐ°ÑÐºÐ°ÑÐºÐ¸ Ð¿Ð¾Ð»ÐµÐ·Ð½Ð¾Ð³Ð¾ Ð³ÑÑÐ·Ð°. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸ Ð¾Ð¿Ð¸ÑÐ°ÑÑ ÑÐ²Ð»ÐµÐ½Ð¸Ñ Ð¿ÐµÑÐµÐºÐ¾ÑÐ° Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð¹ Ð±Ð°Ð»ÐºÐ¸ ÐºÑÐ°Ð½Ð° Ð¸ ÐºÐ°ÑÐµÐ½Ð¸Ñ Ð¿Ð¾Ð»ÐµÐ·Ð½Ð¾Ð³Ð¾ Ð³ÑÑÐ·Ð°. Ð¡Ð¾Ð·Ð´Ð°ÑÑ ÐºÐ¾Ð½ÐµÑÐ½Ð¾-ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ½ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð² MSC Adams Ð´Ð»Ñ ÑÐ¾Ð²Ð¼ÐµÑÑÐ½Ð¾Ð¹ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸ Ñ Matlab/Simulink. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÐ°Ñ Ð±ÑÐ´ÐµÑ Ð¿Ð°ÑÐ¸ÑÐ¾Ð²Ð°ÑÑ Ð²Ð¾Ð·Ð½Ð¸ÐºÐ°ÑÑÐ¸Ð¹ Ð¿ÐµÑÐµÐºÐ¾Ñ Ð¸ ÐºÐ°ÑÐµÐ½Ð¸Ðµ Ð³ÑÑÐ·Ð° Ð¿ÑÑÐµÐ¼ ÑÑÐºÐ¾ÑÐµÐ½Ð¸Ñ Ð¸Ð»Ð¸ Ð·Ð°Ð¼ÐµÐ´Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² ÐºÑÐ°Ð½Ð°. Ð¢Ð°ÐºÐ¶Ðµ, ÑÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ¾Ð·Ð´Ð°ÑÑ Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½ÑÐ¹ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½ÑÐ¹ Ð¼Ð°ÐºÐµÑ, ÐºÐ¾ÑÐ¾ÑÑÐ¹, Ð±ÑÐ´ÐµÑ Ð¿Ð¾Ð»ÑÑÐ°ÑÑ Ð´Ð°Ð½Ð½ÑÐµ Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸ Ð¸ Ð²ÐµÐ»Ð¸ÑÐ¸Ð½Ðµ Ð¿ÐµÑÐµÐºÐ¾ÑÐ° ÐºÑÐ°Ð½Ð° Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸ Ð¸ÑÐ¿ÑÑÐ°ÑÑ ÐµÐ³Ð¾ Ð½Ð° Ð´ÐµÐ¹ÑÑÐ²ÑÑÑÐµÐ¼ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð¼ ÐºÑÐ°Ð½Ðµ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ ÐºÑÐ°Ð½, Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð»ÐµÐ³Ð»Ð¸ Ð² Ð¾ÑÐ½Ð¾Ð²Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð² MSC Adams Ð¸ Matlab/Simulink. Ð ÑÐ¾Ð´Ðµ Ð¾Ð±Ð·Ð¾ÑÐ° Ð»Ð¸ÑÐµÑÐ°ÑÑÑÑ Ð²ÑÑÐ²Ð»ÐµÐ½ Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½ ÑÐ¿Ð¾ÑÐ¾Ð± Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¾Ð¿Ð¸ÑÐ°Ð½Ð¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ° Ð¿ÐµÑÐµÐºÐ¾ÑÐ° Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð³Ð¾ ÐºÑÐ°Ð½Ð° Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ° ÐºÐ°ÑÐµÐ½Ð¸Ñ Ð³ÑÑÐ·Ð° Ð½Ð° Ð¼Ð¾ÑÑÐ¾Ð²Ð¾Ð¼ ÐºÑÐ°Ð½Ðµ. ÐÐ°Ð»ÐµÐµ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð² Matlab Simulink ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÐ°Ñ ÐºÐ¾Ð¼Ð¿ÐµÐ½ÑÐ¸ÑÐ¾Ð²Ð°Ð»Ð° Ð²Ð¾Ð·Ð½Ð¸ÐºÐ°ÑÑÐ¸Ð¹ Ð¿ÐµÑÐµÐºÐ¾Ñ Ð¸ ÐºÐ°ÑÐµÐ½Ð¸Ðµ Ð³ÑÑÐ·Ð°. Ð¡Ð¾Ð·Ð´Ð°Ð½Ð¾ Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¾ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ°Ð»ÑÐ½Ð¾Ðµ Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ðµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð¾.
description: In general, the design of the overhead crane is very simple, which is why this design solution is quite reliable. Now there is a modernization of cranes of this type and the introduction of new technologies. But still, as before, there are two problems that do not have a mass solution - this is the definition and control of the distortion of the supporting metal structure of the crane when it moves along the crane rails and the excessive rolling of the payload transported by the crane. The objects of study in the work are a method for detecting and correcting the misalignment of the carrier beam of an overhead crane from the perpendicular to the motion vector and determining and compensating for the buildup of the payload. The purpose of the work is to mathematically describe the phenomena of distortion of the bridge beam of the crane and the rolling of the payload. Create a finite element model in MSC Adams for co-simulation with Matlab/Simulink. On the basis of the obtained model, implement a control system that will fend off the resulting skew and rolling of the load by accelerating or decelerating the crane drives. Also, the purpose of the work is to create a measuring experimental layout, which will receive data on the position and magnitude of the skew of the crane for further analysis and research and test it on an existing industrial crane. As a result of the study, a crane was selected, the parameters of which formed the basis of the model in MSC Adams and Matlab/Simulink. In the course of the literature review, a method was identified and implemented for the mathematical description of the overhead crane warping process and the load rolling process on the overhead crane. Further, based on the obtained model, a control system was implemented in Matlab Simulink, which compensated for the resulting skew and rolling of the load. An experimental measuring device has been created and tested.