Okun A. An Improvement of the Crane Trolley Movement Control by the Positioning Factor and the Execution Time of the Cycle

Object of study - movement control processes of crane trolley that is moving along a span. Aim of the thesis - improving the crane trolley movement control processes by providing constrained duration of reloading operations and providing their positioning. Methods of study: the theory of Lie algebras and groups, the controllability function method, Laplace transform, mathematical modeling, statistical analysis. Theoretical and practical results: improving the crane trolley movement control processes by providing constrained duration of reloading operations and increased accuracy of their execution. Scientific novelty: it is first substantiated that the task of control for the dynamic "trolley-payload" system is equivalent to the zero-controllability problem and involves the necessity of constructing a continuous limited program control that transfers the system from an arbitrary given initial point to zero in a definite time; the controllability function method, the advantage of which is the construction of a plurality of controls that enables to obtain a constructive solution to the problem of controllability with imposed control constraints, is first applied to solve the zero-controllability problem of the mechanical "trolley-payload" system; a mathematical model describing the movement of the "trolley-payload" system is first considered in the form of a byaffine system, where a suspension length is an additional control, and it is shown that the system has no controllability over the whole space; a mathematical model, to which the mechanical "trolley-payload" system was reduced, is further developed through the use of variable coefficients in case when the suspension length is a piecewise linear function; a mathematical model of the cable trolley's movement and approaches to solve the equations describing this movement are further developed by taking into account the resistance to the trolley's movement, wind effect, cable sagging curve and equivalent weigh of the load. Implementation level: the results of the study is implemented in Kharkiv Plant of Lifting and Transport Equipment, LLC Design and Engineering Enterprise «Soyuzprommechanizacia», State Owned Enterprise «Kharkiv Instrument Engineering Plant Named after T. Shevchenko», as well as in the educational process of the Handling Machinery and Equipment chair of NTU «KhPI», namely in «Cable cranes and cableways», «Technical Object Design» and «Process Modeling in Branch Mechanical Engineering» lecture courses. Area of application - handling machinery branch, educational process.