Analytical solution of the problem of acceleration of cargo by a bridge crane with constant acceleration at elimination of swings of a cargo rope

Limitation of the swing of the bridge crane cargo rope is a matter of urgency, as it can significantly improve the efficiency and safety of the work performed. In order to completely dampen the pendulum swing after the break-up of a bridge or a bridge-crane freight cart to maximum speed, it is necessary, in the normal repulsion control of the electric motor, to split the process of dispersion into a minimum of three gaps. For a dynamic system of swinging of a bridge crane on a flexible cable hanger in a separate vertical plane, an analytical solution was obtained to determine the temporal dependence of the cargo rope angle relative to the gravitational vertical when the cargo suspension point moves with constant acceleration. The resulting analytical dependence of the cargo rope angle and its first derivative can break the process of dispersing the cargo suspension point into three stages of dispersal and braking with various accelerations and enter maximum speed of movement of the cargo suspension point. In doing so, the condition of eliminating the swings of the cargo rope relative to the gravitational vertical is fulfilled. Provides examples of the maximum speed output constraints-to-time when removing the rope swing.