| Aiming at the safety concerns of tower crane, this paper introduced a monitoringand protection scheme based on the ARM processor and MCU. This paper introducedthe basic principle, hardware structure and software design process of the system, andestablished the anti-sway control model based on fuzzy control. The paper also simulatedthe control model and presented the anti-collision control algorithm of tower crane.Firstly, this paper introduced the background and significance of the subject, researchstatus of safety monitoring system anti-sway and anti-collision algorithm. Products aboutsafety monitoring system were introduced and compared, and then this paper put forwardthe main research contents.Secondly, this paper introduced the structure of tower crane, then basic principle ofsafety monitoring system were introduced on the basis of the torque curves. Accordingto the general demand, a monitoring and protection system was proposed based on ARMand MCU. This system can be divided into control module, data acquisition module, datadisplay module, PC software, etc. Hardware and software design of each module werepresented in detail.Thirdly, this paper analyzed and simplified the mechanics model of tower crane ac-cording to Lagrange equations, then designed an anti-sway controller based on fuzzylogic to control the angular range of luffing and rotary motion in tower crane. Also thepaper compared the fuzzy controller with traditional robust PID controller, analyzed andcompared the in?uence on the performance of the controller when the crane model pa-rameters changed. Then the paper studied the two specific situations when the tower cranemay collide with others, the corresponding anti-collision algorithm were proposed afterthen.Finally, the data acquisition accuracy, overload alarm algorithm of the system and pcinterface were tested in laboratory environment, The test results verified the correctnessof the system design and the reliability of the system. |
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