Romasevich Y. Gantry cranes trolley transient regimes motion optimization.

In the dissertation represented researches that are directed on optimization of cranes trolley transient regimes of motion. That allows to remove load oscillation (load fastened on a flexible suspension) and to decrease the dynamic loads in the trolley drive mechanism. The trolley transient regimes of motion by different criteria (kinematics, dynamics, complex kinematics) are optimized. Criteria are of the form of integral functionals. The analysis of the determined optimal laws of motion, which characterized by high smoothness of movement trolley, is conducted. Control system for realization of trolley optimum laws of motion, which taking into account all parameters of process, is developed. The character of change of deflection corner of the rope with a load at hand and at an optimum control is determined. Reasons of residual (after trolley stopping) load oscillation are determined. Based on the results of researches a structure and general algorithms of work of mechatronic control system by crane trolley motion is offered, which are protected by a 5 patents of Ukraine.