Intelligent Controller Design And Study On Anti-swing Control Of Overhead Crane

Overhead cranes are widely used in industry for load transfer. As its unique structure, it unavoidably causes swinging as working. Anciently the crane is controlled manually with the manipulator, and the next extent is available before the swing's complete attenuation unaffectedly. This kind of swing elimination mode costs the efficiency of production. A active anti-swing control system to get the control of both anti-swing and movement of the trolley into account is designed in this paper, and has profound implications to the quick and safe work of crane.Dynamic analysis for the crane-load system is the foundation for solving the problem of the crane's fast contraposition. Aiming at the crane model, the basic method of theoretic mechanics and Lagrange equation was used to establish the crane-load system's dynamic equations, and the two-degree-of-freedom angle model was derived based on linear simplification for the system's dynamic equations.In this paper, a anti-swing control system was designed which was based on S7-200series PLC according to conditions of variable-frequency speed control technology. The application of variable frequency speed control technology enhanced the stability and the reliability of the crane control system enormously.With the high reliability, the use of flexible and low maintenance working, PLC is widely used in industrial areas.The conventional method which is PID control has the shortage in crane anti-swing. In this paper two fuzzy anti-swing controllers were presented by means of the fuzzy control mechanism. Anti-swing and orientation controller was designed respectively. The fuzzy location controller and fuzzy angle controller were used to realize the accurate location and anti-swing. This new method needs little time to compute and gets the high efficiency. And the simulink result shows the good control effect. The fuzzy control effect is better in velocity and position tracking than above one and good robustness when having external disturbance.To eliminate the steady-state error and reduce the angle of amplitude in fuzzy control, a method was presented in this paper. In brief, it is using fuzzy auto-tuing PID controller to eliminate steady-state error and improve swing angle control. The results of simulation and actual experiments show the steady-state error can be eliminated, and response time of system can be shortened, the disturbance rejection ability of system can be strengthened.