The Tower Cranes Intelligent Anti-sway And Positioning Control Method Study

Based on the analysis of the current research status and developmenttendency of crane indoors and outdoors, according to the characteristics of towercrane system and the disadvantages of the current control method, the newpositioning and anti-swing control is designed for the intelligent tower cranesystem so as to obtain the performances of absolute safety, fast speed andsmooth operation, improve the dynamic and static, increase system efficiency,and obtain precise positioning and quick anti-swing. The main contents are asfollows:Firstly, based on time-delayed filter and the fuzzy sliding mode controltheory, a new method of fuzzy sliding mode anti-swing control is proposed fortower crane. This method, which consists the sliding mode control to eliminatethe load swing and the fuzzy control to adjust the parameters of reaching law,weakens or avoids the chattering and improves the rate when the system reachesthe sliding surface. And the time-delayed filter which could filter the modelinput signal is designed to reduce residual vibration in the uncertain system. Thismethod enables the system to have good dynamic performances and enhancesthe quality of control system. The simulation results show the feasibility andeffectiveness of the method.Secondly, the PD fractional sliding surface on the basis of the commonsliding surface is designed, where the definition of fractional sliding surface hasa high robustness and fast speed so as to reduce the chattering phenomenon insliding mode control (SMC) and lead to maintain a faster speed to reach thesliding surface. Genetic algorithm is used to determine and optimize theparameters of fractional sliding mode controller (FSMC). The simulation resultsshow that the method obtains better control effect.Finally, through the force analysis for tower crane system, a new neuralnetwork sliding mode control method is formulated for the uncertainties of cranemodel parameters. The neural network is adopted to approximate theuncertainties of system, and considering the friction of system, it is needless to approximately decouple or exactly linearize the model of tower crane, and thecontroller can accurately position the trolley, suppress the payload swing even inthe presence of parameters uncertainties and external disturbance and improvethe control performance of the system.