Abstract
Gantry cranes have high performance requirements: high response speed and no fluctuations in the load position. In order to optimize the crane's performance in terms of minimizing working time, the main requirement is to accurately characterize the dynamic response of loads during the maneuvering phase during lifting and lowering. Computational and physical experiments were carried out in the work. Mathematical modeling of the dynamics of the control object "gantry crane trolley − portable load" is performed when moving along one axis. Also, a linearized model of the object's movement is calculated under the control action on the cart in the form of a set speed. For experimental verification of the mathematical and computer dynamic model, a laboratory stand of a model crane was developed as a prototype of a gantry crane. The purpose of the experiment is to confirm the fulfillment of the conditions of dynamic similarity, according to the data obtained in the experiment and in the mathematical model.