Modal control of asynchronous electric drive for a trolley of a bridge crane with observing device

Purpose of the work: development of a modal control system for an electric drive for moving a trolley of a bridge crane with damping of load vibrations. As an object of research, a system consisting of an asynchronous controlled electric drive, an overhead crane trolley, suspension and load is considered. Research methods: methods of the theory of automatic control, including methods of operator calculus and modal control, were used to achieve this goal. Numerical studies of processes in the control system under development are performed in the MATLAB computing environment (SIMULINK application software package). Results of the work: the method and structure of the system of automatic suppression of vibrations of a load freely suspended on a rope based on a modal speed controller and an observing device are proposed. A modal regulator and an observer of the speed of cargo movement have been developed, graphs of transients are shown that show the efficiency of the control system.