Optimal movement of the suspended payload

Abstract

This paper presents one of the possible ways to optimize the movement of the suspended payload. Application of presented optimization procedure is shown on grab crane devices such as unloading bridge and harbour crane. The optimization procedure is divided into two phases. The first phase is optimization of the cargo and grab (suspended payload) movement. The second phase is determination of movement, of the grab crane device mechanisms, upon obtained optimal path and parameters of cargo and grab (payload) movement. Shape of presented mathematical model makes possible direct application of optimal control theory methods i.e. optimization of the payload movement is determined using Pontryagin’s maximum principle. The basic aim of optimization is to attain the minimal working (unloading) cycle, spending of energy and material dissipation during the grab discharging. All relevant expressions are derived analytically..

Keywords

• optimization
• unloading cycle
• harbour crane
• unloading bridge
• maximum principle