System identification and synthesis of the optimal motion controller of the „crane-load” system

Authors

  • Yu. O. Romasevych National University of Life and Environmental Sciences of Ukraine image/svg+xml
  • V. S. Loveikin National University of Life and Environmental Sciences of Ukraine image/svg+xml
  • V. V. Makarets National University of Life and Environmental Sciences of Ukraine image/svg+xml
  • O. I. Scherbak National University of Life and Environmental Sciences of Ukraine image/svg+xml

DOI:

https://doi.org/10.31548/dopovidi2022.01.018

Keywords:

controller synthesis, control, identification, optimization, dynamic system

Abstract

The article presents an approach that allows to calculate of the optimal controller of the dynamical system. It consists in the identification of the physical installation of the dynamic system and on that base synthesis of the optimal controller. In order to implement this approach, one does not have to use a mathematical model of the system in the form of a set of differential equations. It simplifies the calculations. However, in order to obtain the benefits of this method, it is necessary at the stage of system identification to estimate the quality of the identification.

The scientific and applied problem of synthesis of optimal control of the movement of the dynamic system "crane-load" has been solved in the work. In order to establish the adequacy of the developed approach, appropriate equipment (mechanical, electrical, electronic, measuring and recording, etc.) was selected to ensure quality control of the laboratory installation. In order to obtain a mathematical model of the system, the data on the speed and position of the trolley and the load under control of the movement of the trolley was recorded. During this process, the frequency-controlled drive was exploited. Two data sets were obtained, the first was used to build regression dependencies (mathematical model of the system), and the second one ‒ to verify their adequacy. This provides the statement of the optimal controller problem (in the closed-loop form). This problem was solved using a modified particle swarm optimization method. Note, that the approach developed in this paper may also be used for the synthesis of optimal control systems for other dynamical systems.

Analysis of the plots for all cases (for a longer and shorter duration of the control process) shows the elimination of pendulum oscillations of the load at the end of the movement of the trolley. The smoothness of movement was indicated, as well. The difference between the first and second cases has been stated: the second case (for the shorter duration of motion) control is more intensive.

References

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Published

2022-02-28

Issue

No. 1(95) (2022)

Section

Machinery & Automation ofAgriculture 4.0

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