Arduino-based microprocessor bridge crane control system

Abstract

The paper describes and tests the results of the original microprocessor control system of the bridge crane layout based on Arduino. The model has 3 short-circuited drives - mechanisms for moving the cart, bridge and lifting loads. The gripping body is an electromagnet. The optimal control laws for the two-mass mathematical model of the crane are used as an algorithm. Research is aimed at solving the problem of eliminating load oscillations after stopping the crane in the shortest time with minimal switching modes, as well as accurate positioning of the crane. A program has been developed that allows to obtain optimal control laws for any pendulum system, such as a bridge crane. The program takes into account the following parameters of the crane: the weight of the truck and the load, the length of the rope, the speed of constant movement, the force of static resistance, driving and braking force. At the output of the program we get the following parameters in the time scan: movement and speed of the cart, movement and speed of the load. This task is achieved by changing the speed of the suspension point (braking / acceleration) at the final stage of the overload cycle. The relative phase state of the truck-cargo system can be any. This makes it possible not to waste time on eliminating load oscillations during crane acceleration in order to have zero phase coordinates before braking. It is established that for a successful result it is necessary to accurately determine the parameters of the crane. Residual oscillations of the load after stopping the crane are not more than 2 mm, and the positioning accuracy of the crane is 1 mm. The number of mode switches is also minimal and equal to three. This is despite the fact that the drive of the used tap is not adjustable. In the future, you can achieve better results when using an adjustable feedback drive.