The Study On The Strategy Of Active Anti-Sway Control For Cranes

In the field of modern logistics equipment, cranes electronic anti-sway technology is an urgent problem to improve the stability and speed in freight handling. Due to the particularity of the crane structure, the load’s sway is easy to be caused. To create a simple, accurate mathematical model is the key to solve this problem. The characteristics of the crane and the analysis of the dynamic model of trolley-load was informed when the car switching between constant acceleration motion and uniform motion, the swing pendulum motion laws of the load is same with non-inertial frame. When the cranes switching between the constant acceleration motion and uniform motion, the values of the load’s swing speed in the end of the previous state is the same to the new state, the swing angle convert to a new angle and continue to do the simple pendulum motion under the new equilibrium position. Based on this conclusion non-inertial swing model is informed.Compared to the dynamic model of trolley-load, we can see that the non-inertial swing model can reflect the load’s swing law very well when the crane switching between constant acceleration and uniform motion.There are more research about the crane electronic anti-sway than practical application in our country. In order to provide a theoretical basis and guidance to the design of the crane electronic anti-sway system, based on reach of the non-inertial load’s swing model,this thesis developed a solution about three cases when the cranes running or before the crane running or after the crane running. in order to get the control system parameters, the thesis analyzed and organized a large number of calculations based on the analysis and calculation of the non-inertial load’s swing model.In the same time Matlab was used to fit the obtained polynomial the form of the approximate solution. Further simulation illustrate that:the reasonable control of the trolley’s acceleration can effectively eliminate load’s swing angle; the anti-sway strategy can eliminate load’s swing angle quickly, the whole process is limited in about one swing period; When load is swinging in the three cases that crane during running, before running and after running, the greater the trolley’s acceleration is, the more favorable the anti-sway strategy make. But when it reach a certain value the gap will become less obvious.For the realization of the automatic control of the crane, how to avoid the swing factor that due to various causes is essential. The study of the crane in anti-sway strategy shake the swing angle detection method is simple, control countermeasures comprehensive, run away and be able to control the amount of real-time calculation, positioning, consumer placed and positioned at the same time, can be well applied to the crane automatic control system in. It is easy to add on the existing crane, and the cost is also smaller.