Control of overhead crane drive with centred motion and elimination of the bevel

A system designed for the control of overhead crane motion is described in the paper. The control system keeps the motion of the crane centred, eliminating its bevel at the same time. The motion of the crane outside the centre and with the nonzero bevel is the result of nonsymmetry disposition of the horizontal loads, geometrical imperfections of the construction and the phenomenon of wheels side reflection. The centring and elimination of the bevel angle is realised by a single controller, subordinated to the speed controller. The behaviour of the crane has been simulated based on a mathematical model which reflects all the above-mentioned essential phenomena occurring in the crane. The measurement of the crane position in relation to the centre of the runway and the measurement of bevel angle, which could be done in the proposed system by means of only two distance sensors, plays a key role in the described system. The results gained in the work can be a starting point for experimental research based on microprocessor control realisation