Dynamics of a Mobile Crane and Optimisation of the Slewing Motion of Its Upper Structure
作者： A. Maczynski , S. Wojciech
关键词: Degrees of freedom (mechanics) 、 Motion (geometry) 、 Dynamics (mechanics) 、 Structure (category theory) 、 PID controller 、 Engineering 、 Control engineering 、 Simple (abstract algebra) 、 Mobile crane 、 Control theory 、 Base (geometry)
摘要: In the paper 3-D model of a telescopic mobile crane is presented. flexibilities and damping have been taken into account also number degrees freedom can be chosen according to complexity an approach. The algorithm optimisation drive functions for slewing upper structure given. main goal was ensure load positioning at end point work cycle in case when oscillations are minimal. order achieve appropriate numerical effectiveness, problem solved simple, fully rigid crane. method compensating neglected base inner disturbances connected with feedback control system via digital PID controller
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