关键词：控制器；起重机；机制优化选择
摘 要：Design of state-of-the art crane mechanisms involves a multi-stage and multi-criterial optimization. Depending on the specificity and intended use of the machine, the optimal structure and dimensions of its mechanisms are sought as well as optimal algorithms for drive control and regulation, which requires the application of optimization criteria. It appears, however, that the approach relying on the minimum of a specifically formulated quadratic functional enables the selection of optimal geometric parameters of the mechanism and, besides, proves effective as the method of drive control. Furthermore, the geometric parameters of the mechanism can be optimized for its entire working range. Simplicity, universality and efficiency of the method are demonstrated on the example of a slewing one-link jib crane system. The search for the optimal control strategy of drive mechanisms is illustrated in the study that investigates an asymmetrically loaded platform suspended on ropes and people moving with respect to it during the hoisting phase.