Optimization of material handling at the automatic warehouse based on the adaptive control algorithm

The paper presents an option for automation of the operational procedure at the concentrating coal factory by means of new methods and control algorithms. A crane control automatic system allows choosing the best possible motion trajectories for fast material handling operations and, regardless of processing and disturbing factors, controlling the dynamic state of the handled load which makes material handling significantly more efficient. This automation option implies “examining” of the warehouse surface and automatic choice of the crane motion algorithm. This algorithm takes into account the height of magnetite bulk and ensures fastest possible material handling. To move load to a specified distance without its swinging under prior load mass uncertainty, rope length, external uncontrolled disturbances (friction, wind load), it is proposed to build an adaptive control system with an identification algorithm and an implicit reference model using “simplified” adaptation conditions. The article contains an example demonstrating the efficiency of the proposed approach.