Abstract
One of the main problems in the operation of cranes is the oscillation of the load on a flexible suspension. One of the ways to eliminate load oscillations on a flexible suspension is to use a proportional-integral-differential controller that generates a control signal for the crane movement. However, for it to function properly, it must be properly tuned. Standard approaches to tuning a PID controller, which is common in the practice of engineering calculations, do not allow solving this problem, and that is why it can be considered as a scientific and applied one. The research aims to develop an algorithm for tuning a proportional-integral-differential controller. For this purpose, a research issue was defined, which includes a mathematical model of the dynamic system, restrictions on the overload capacity of the crane drive and the control function, conditions for achieving the steady-state speed of the crane and eliminating pendulum oscillations of the load on a flexible suspension. Using the modified particle swarm method, ME-D-PSO, the coefficients of the proportional-integral-differential controller were determined for a wide range of values of the load mass and the length of the flexible suspension. Based on the obtained values of the coefficients, an algorithm is presented that allows calculating the values of the coefficients for any values of the cargo mass and the length of the suspension. The dynamics of the movement of the crane-load system are analyzed for the smallest and largest selected parameters and for the case obtained by applying the developed algorithm. Practical application of the developed algorithm will allow obtaining optimal values of the proportional-integral-differential controller, which in turn eliminates oscillations of the load on a flexible suspension during crane operation, which in turn increases the safety of crane operation, structural durability, and increases the crane’s productivity