Robust Sway Prevention of Suspended Loads

the problem of preventing the swinging of loads carried by lifting mechanisms is being solved. A variant of the mechanism in which the load is attached by a flexible cable to a movable cart is considered. A mathematical model of the cart movement with a load is compiled, and it is shown that the specified system is characterized by a deficit of control actions. To achieve the goal of the work, taking into account this circumstance, the physical content of the problem was analyzed. As a result of the analysis, it is proposed to form the movement of the system in such a way that the forced movement of the load coincides as much as possible with the phase trajectory of its free movement. Such a coincidence of trajectories can be ensured by switching the control action on the separatrices separating the indicated circulation areas. Since the mass of the load in real conditions varies over a wide range, an associated problem of ensuring the robustness of the control system arises. The solution of this problem is achieved on the basis of fuzzy algorithms. A set of decision rules is formulated that implement the desired trajectory of cargo movement without swinging. It is shown that the result of the control ensures the system movement, which is close to the movement along extremals under piecewise constant control. Using the simulation model of the system, a numerical verification of the proposed control algorithms was carried out, and their effectiveness was shown.