The3D Crane System Based On Two Control Algorithms

3D crane is an important load transfer tool for harbor and construction site. It is of great significance to design an automatic control system for3D crane, for the sake of improving efficiency and production safety. And3D crane is a typical under actuation system, so it is of theoretical significance to study its control issues. The researches results can be adapted to control a class of under actuate systems.This thesis focuses on the positioning and anti-swing of the3D crane system. The main works include:1. After having a deep research on the physical model and referring to the research results of domestic and overseas about the modeling of3D crane, a nonlinear dynamic model was derived via the Lagrangian method. A linearized model is derived.2. Because the robustness of sliding mode control, we decide to adopt this method to design the controller for3D crane. But the original sliding mode control has a great problem, that is chattering. In order to reduce the chattering, we adopt the dynamic sliding mode (DSMC)method to design the controller. The simulation and virtual reality simulation results show the feasibility of this method.3. A variable universe adaptive fuzzy controller(VUAFC) for3D crane is designed, and the simulation results show that this controller can location fast and accurately, and control the swing angel within a small scope, without overshoot and with great robustness.4. The algorithm of dynamic sliding mode method and variable universe adaptive fuzzy method in C language is implemented; the Real-time control program in VC environment is developed. The physical experiment shows that VUAFC method reveals great advantages in holistic control performance compared to DSMC method. Finally, the conclusion is presented.