The dynamic errors of mechatronically controlled lifting equipment

Abstract

Upon striving to ensure the cargo safety and precizity of its delivery, mechatronic control systems are more and more widely applied in lifting mechanisms. They get information from various sensors, including those involved in registering the rope’s deformations. The got information may be distorted because of the appearance of cargo swinging that’s level depends on the mode of operation of the lifting mechanism and the rope’s elasticity. The latter varies dependently on the length of the unwound rope and the way of deformation of rope’s wires. In the paper, a mathematical model of a lifting mechanism that describes its dynamics on lifting when both the cargo and the rope swing in respect of a vertical axis is provided. The model was examined by a special program developed upon using MATLAB and SIMULINK program packages. The obtained dependences of the swing parameters on the mode of operation of the lifting mechanism and the rope’s parameters enable assessing a possible application of the lifting mechanism.