Synthesis of quasi-optimal motion crane’s control in the form of feedback

The solution of the problem of optimal crane’s control is proposed in this article. The crane’s model is adopted as two-mass. The synthesized quasi-optimal control allows one to eliminate vibrations during braking load of the crane. Control is a function of phase coordinates of dynamic system ”truck-load“ and it’s limited in size. One may use for the solution of the problem the method of dynamic programming. The results are illustrated with the help of graphics which are bold on the phase planes