Research On Dynamic Simulation And Control Of Load Deflection Systems For Cranes

Crane, as a handling tool, is widely applied to the port, forest operations and workshop warehouse jobs and other operations. During the crane handling operations, Lifting loads will produce pendulum movement in the vertical plane and the swinging back and forth in the horizontal plane. When the crane arrived at the designated location and need accurate positioning of cargo handling, can not immediately take or unload cargo because of load swing. It is practical significance to study control of load swing angel for the high operational efficiency of cranes, so describe accurately dynamic characteristics of the swing angle is a precondition for researching control of load swing angel before control research, therefore, it has important theoretical and practical significance to research the dynamic model of the crane and anti-swing control at the same time. The following aspects of its research are made:(1) Load deflection system 6 degrees of freedom dynamic model is established by Lagrange equation, at the same time taking into account the load swing in the direction of the trolley running and the direction of the cart running, drawn carts and trolley run impact on the swing angle is independent. Load 4 degrees of freedom dynamic model is established, swing angle of load in the vertical direction with the trolley's acceleration and rope length and lifting speed of load are obtained by linear simplification, while the horizontal swing angle with the torsion coefficient of wire rope and its inertia.(2) Load 2 degrees of freedom shimmy differential equations of uniform descent of load after the trolley broken are set up. The simulation model is made by using SIMULINK state space module. At last, vibration differential equations are simulated by SIMULINK, simulation result show that rope length, rate of decline and material length have a major impact on load deflection system.(3) Dynamic model of the crane system with affine nonlinear form, the part of the system that have a direct incentive is treated with the exact linearization method,a new decoupling and linear dynamic equation is get, and its state feedback control can realize rope length and location of the car has a good servo characteristics. The nonlinear and no direct incentive part of the swing angle control is controlled by modifying the location of the trolley to achieve the purpose of rapid consumption. Simulation results of control system show that there is a good servo effect of the location of the trolley and rope length, at the same time to make the rapid decay of the load pendulum angle, also the control system also has better robustness for load mass.