Crane Closed-loop Elimination Pendulum Controller Developed

Crane is one of the most important lifting and handling equipments in the world, widely used in construction, manufacturing and port transportation. As a kind of long-range, heavy load handling tools, it has been widely used, and spawned such as the tower cranes, bridge cranes, and many other types. The factor that constraints its operational efficiency and safety is when the car of crane starts or stops it will cause the load swing. In most cases, this kind of swing will have a negative impact, severely limits the level of the crane speed, results in low handling efficiency. Thus removing the residual swing is particularly important. With the development of global economic and trade, there are a corresponding increase in the crane' s walking speed and lifting height, which causes more and more time spent in the elimination of load swing, which greatly affects the loading speed and productivity. For these reasons, crane swing elimination control has been studied extensively. Eliminating the load swing in order to improve the automation of crane is very meaningful.This study is mainly based on two points:First, the current research about elimination of load swing has focused on the model of lifting system and how to control based on this model, and the driving system is assumed to be the ideal part, therefore there is little research about it. For those lifting systems which have a smaller inertia, the mechanical inertia and electrical inertia of the motors have reached some degree that can not be ignored. Second, the open-loop control strategy which needs no more testing for the load' s information, so this kind of control strategy obtains a wide range of applications. Because of the lack of practical and economical swing angle and swing speed detection methods, the closed-loop control strategy is not widely promoted.This article is mainly for the entire crane system, abandon the assumption that the car' s driving system is an ideal part., study the characteristics of the driving system. Treats the driving system and lifting system as a whole system, all the study and control are based on this. Allowing a better understanding of the work of the crane system, and thus there will be more effective and targeted control for it. What's more it will play a better role in promoting, and realize closed-loop control through optimal control strategies, the biggest problem to achieve closed-loop is the collection of the swing angle and swing speed and other information, in this article, information about swing angle is got by a reliable swing angle sensor and through a reduced order state observer to achieve the state space reconstruction, therefore the swaying speed information and other information could be got by state observer. Compared with the open-loop control strategy, this strategy appropriates to the situations that have larger external interference (such as wind, etc.). As it can be seen from the above two points, the subject of research carries out to be better targeted for small and medium sized cranes in outdoors.