IMPLEMENTATION OF OPTIMAL CONTROL OF THE MECHANISM OF HORIZONTAL MOVEMENT

Abstract

In order to increase the productivity of horizontal movement mechanisms, which play a significant part of the cycle in transient modes, it is necessary to reduce the time of acceleration and inhibition with a one-time solution to the problem of cargo rotation. Previously, in order to optimize the transition process, the principle of Pontryagin's maximum was used, with the help of which the control of the electric motor  was implemented, which provides the minimum time of dynamic regimes and the extinction of the load of the cargo. An instantaneous change in control and the presence of a gap leads to significant loads in the kinematic gears of the mechanism when it is selected. The control of the electric motor, which uses an asynchronous motor with a short-circuit rotor and a vector-controlled frequency converter, allows you to reactivate the task and change the engine moment according to a certain law. The necessity and expediency of using an asynchronous vector electric motor for the realization control by the mechanism, which provides the minimum time of dynamic regimes and the suppression of cargo fluctuations at the end of the transition process is shown. Acceleration at a reduced speed before the main switching cycle of control influence allows you to limit the loads to allowable values, but the time of the transition process substantially collapses. When the speed is reduced to the time of the selection of the gap, the value of the dynamics decreases to 3, the transition time increases slightly. The development of the algorithm for controlling the electric motor implemented represents a stage of further research.