Analysis of the effectiveness of using the block for limiting the vibrations of the load on the mechanism of movement of the bogie with various control systems

Damping load vibrations in an electric crane drive is an urgent topic for research. The swinging load has a negative effect on the mechanical part of the device, leading to its wear, and on the entire control system as a whole. To combat the swaying of the load, it is proposed to install a vibration damping block created on the basis of an equation describing the dependence of the change in the deviation of the load on the equilibrium position in the plane of movement of the cart. The control signals in the vibration damping unit are the parameters of truck acceleration, suspension length, and weight of the load. At the output of the vibration damping unit, a speed task is formed. A block diagram of the trolley drive control system has been developed. Both scalar systems and systems with direct torque control are used on trolley travel mechanisms. The paper analyzes the efficiency of using the vibration damping unit when using different control systems on the movement mechanism of the bridge crane trolley.