engleski

Control of Rotary Crane by a Combined Profile of Speeds

For the nominal control of a rotary crane motions we use a combined profile of speeds, which is defined by the corresponding weight parameters. Computer simulation results of crane motion (as graphs of control torques and tracking errors) are given for different weight parameters. Thus the main task of the paper is to elaborate which region of weight parameter is most acceptable for use in the real control conditions, regarding to amplitude constrains and smoothens of graphs of control torques as well as to values of tracking errors.

Rotary Crane; Profile of Speed; Weight Parameter

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