A Mechatronic Slip Complex Control when Erecting Monolith Objects

The paper considers the principles of a mechatronic slip complex (MSC) control for monolith construction, which features the availability of two groups of effectors requiring coordinated work. It has been shown that for the MSC control it is advisable to use a two-level structure; the upper level tasks of which are planning the complex hoisting and synchronizing the operation of control mechanisms, while the tasks of the lower level incorporate the development of control signals formed at the previous level. In order to remove the complex deviation from the designed location it is suggested to apply the method of the MSC movements planning with due account of limitations for control and effects of disturbing influences on the structure being erected.