Bridge crane trolley movement in the anti-sway mode

The sequence of one-parametric optimization problems is solved to find the load suspension point program control for the bridge crane in a problem of terminal targeting. The problem of swaying is considered for the load moved with the bridge crane. The way is suggested to solve the problem of moving the bridge crane trolley for a predetermined distance, providing the complete suppression of uncontrolled pendulum spatial swaying of the load on the rope suspension. The principle is applied of recalculating the time dependence of angles of a hoisting rope deviation from the vertical depending on accelerations, speeds and movements of the load suspension point on the trolley. Kinematic restrictions on load suspension point movements are taken into account in the form of the maximally attainable accelerations and speeds of the crane bridge and trolley.