Anti-Sway Control Of Intelligent Travelling Crane System

Travelling crane is an important equipment of Industry field. With the development of efficient and the demand of lager scale and higher velocity, the travelling crane needs to be more intelligent with high technology. The sway induced by the high speed travelling crane is great hazard to the industry filed, so we should design an intelligent anti-sway control system of travelling crane to improve the working environment and reduce the working intension.The system is based on frequency conversion velometer and PLC. This paper analyses the construct of the system, and introduces the working theory of position and graphic sensors. By describe the control procedure of the control level and the PLC, the paper purposes that this control system has great advantage.This paper anlyses the movement motion of the model of the travelling crane system. According to the motion, this paper establishes the mathematics model and status formula. This paper discusses the situation of optimization results about horizontal moving and sway moving with Bang-Bang control theory. By comparing four velocity pattern, this paper choose the stepped velocity pattern to develop the anti-sway control scheme.The next part introduce the fuzzy control and fuzzy-neruon control methods. With the analysis of moving characters, this part confirm the principles and methods of fuzzy controller. By concerning of all the variables, this paper designs two control system for the position and sway moving, establishes the fuzzy control rules and membership functions.And then, the paper brings out the fuzzy neural network model by the good ability of neural network's self-study.