Ryzhkov O. Dynamics control of electrical drives for the bridge crane with manipulator.

The object of research is electromagnetic processes in frequency controlled electric drive. The dissertation purpose is increasing speed and accuracy of electric drives positioning for the crane manipulator at working in technological process as a part of installation of radioactive metals decontamination by synthesis of automatic control systems taking into account dynamic change of load characteristics applied to drive. The Methods of research are theory of electric circuits and electromagnetic fields; methods of classical and modern theory of automatic control, including methods of polynomial synthesis of systems with regulators and of the complete order state observers; mathematical modeling in MATLAB and its applications Simulink and SimMechanics. Theoretical and practical results and innovation for the first time a virtual model of the electromechanical drive system was developed. In which movement of cargo by crane-manipulator realized in model of dependence of load moment which size changes in the course of movement. That allows to consider dynamic change of loading; improved the method of optimal speed control damping of cargo oscillations when crane is moving, taking into account the change of rope length, which consists in the synthesis of modal control system with feedback on the state vector and third-order Luenberger state observer from the vertical and its angular velocity; a new mathematical model of electromechanical system electric lifting crane-manipulator install decontamination of radioactive metal, which takes into account the change static moment load caused by the action of strength when immersed in technology cargo bath limited volume of fluid, and change the moment of inertia of the drive after the load reaches the bottom of the bath; improved method of position control by electric drive of the hoisting device for the crane-manipulator, which increases the speed and accuracy of positioning of the crane load and consists in synthesis of position control system with the device of setting the angular value, proportional-integral speed regulator and linear proportional position regulator. The subject and the degree of implementation: the results of research performed in the dissertation (models of the mechanical system of the crane-manipulator, algorithms of automatic control of electric crane drives) were used by NTF TEMS LLC for creation positional control system of electric drives for the bridge crane-manipulator. This crane used by energy company "Energoatom" SE "Rivne Nuclear Power Plant", which is confirmed by the relevant act. The implemented system has proven itself in use. The effectiveness of the implementation: increase of productivity of the equipment, increase of quality of management, decrease in absolute and relative indicators of consumption of the electric power. The sphere of usage: system of position control of electric drives of the bridge crane-manipulator as a part of installation of decontamination of radioactive metals.