The Research Of Anti-Swing Control Of Container Crane Based On T-S Fuzzy Model

The anti-swing control of the container crane is that the main trolley carries the load by the container spreader arrive at the goal and the anti-swing device makes the swing range of load get the prescribe range in the prescribe time.The container crane is a complex and nonlinear system with uncertainty. So the anti-swing control is very difficult. The research of the anti-swing system is very important. But there are only a few methods researched on the container crane as an uncertain system. And the anti-swing time is much longer. Therefore some useful researches have been done in this dissertation. Firstly, container crane kinematical characteristic and Lagrange Equation are investigated. Then utilizing the freedom of position and theta, establish the system equations. Thus container crane kinematical model is educed. From this model, the container crane T-S model is got. To deal with uncertainty of container crane system, a H_∞controller based on the T-S model is obtained. Transforms the system stabilizability and the existence condition of the H_∞controller to solving a problem of LMI (Linear Matrix Inequality). Then gets the optimal feedback matrix, this method makes the system inner stable and the effect by the uncertain factor minimum. But it has a disadvantage that it can't reserve some performance when system disturbances exit. So the cost guaranteed controller is designed. By solving the convex optimization problem with a set of LMI constrains, the performance upper boundary and the state feedback matrix of PDC (Parallel Distributed Compensation) fuzzy logic controller are obtained. the container crane system can be robust stabilized and the closed loop performance is guaranteed.The simulation results indicate that these two approaches can restrain the swing and disturbance in short time. Thus, with the uncertainty and disturbance of system, it is approved that the anti-swing controller of the container crane is effective and robust.