| Abstract |
The paper discusses a comprehensive mechanical, electromechanical, electromagnetic and control
design approaches leading to the system integration and redesign solutions of the high-performance
crane mechatronic system. The advanced analytical and numerical solutions are obtained during
solving a spectrum of energy conversion, control problems for the investigated system which
integrates electromechanical motion devices (the electrical actuators - switched reluctance motor
(SRM) and linear induction motor (LIM)), no-linear mechanical load (skewing container), and control
systems. The combination of finite element method and machine circuit equations is applied for the
electrical drive design and steady-state performance prediction with the aim to obtain the optimal
electromagnetic parameters and improve the output efficiency. The finite element models are
implemented in Maxwell 2D through the intermediate models in RMxprt (Ansoft Co). Further, the parametric post-processing verification is provided for the different electromagnetic constraints.
Finally the created toolboxes for electrical drives, linear and non-linear models of mechanical load,
control system are applied for multilevel-modeling approach of the crane mechatronic system. The
non-linear and linearized governed equations of a skewing container present the dynamic models of
the mechanical load. Analytical solutions of the motion equations based on a Lagrangian approach are
obtained with Maple V software and further implemented into Matlab-Simulink models. The
particular emphasis is given to linking the model of the skewing container with the models of the SRM
and LIM using the principle of energy balance. The simulated dynamic responses of the skewing
container with feedback control systems are proposed for the implementation at the physical scale
prototype. |
