Research On Anti-swing Control Of Bridge Crane Based On Fuzzy PID Control

With the improvement of productivity, bridge crane as an important handling tool in social production plays an increasingly important role. It is widely used in factories, hydropower station, port, warehouse and so on. However, the crane is apt to cause payload oscillation in operation process, which can cause accidents. Therefore, in order to improve safety and reliability of bridge crane and increase productivity, it is very necessary to control the swing of bridge crane's payload.This paper establishes a nonlinear mathematical model of bridge crane using the Lagrange Equation; also it uses the conventional PID and LQR optimal control methods in study and simulation for bridge crane ant-swing based on the nonlinear mathematical model. The simulation shows that both methods have some limitations. At the same time, the paper introduces design process of fuzzy self-tuning PID controller with combing the conventional PID control and fuzzy control which is studied based on fuzzy control mechanism, and MATLAB/Simulink simulation was carried out. The Simulink experiment proves that location fuzzy PID controller and angle fuzzy controller show the good anti-swing effect. The two controllers not only improve response speed times but also improve control accuracy. The payload oscillation swing time is not more than five seconds when the car stops. Moreover, the system has better robust when the length of rope and mass of load changing.The paper builds the bridge anti-swing control system make full use of the original electrical components based on the design of fuzzy PID anti-swing controller, just adds only lifting height detection, car position detection and load angle detection. Also, it completes debugging of the control system by using the software programming environment of Siemens STEP 7-micro/win32. Debugging results show that the design is reliable, and has good control effect.