Based On Passive Of Bridge Crane Anti-swing Control Method Research

The overhead travelling crane system is a complex nonlinear underactuatedsystem, which has been widely used in much industrial control field. Because ofits multi-variable, strong coupling of the physical characteristics, it is a typicalobject of study in the field of nonlinear studies. Therefore, this paper will use ofpassive characteristics of the crane system, combining with sliding modevariable structure control and filter research the crane positioning and anti-swingin the two-dimensional and three-dimensional space,a simple and resist outsideinterference control strategy is constructed,which provides an importanttheoretical basis and practical significance for the positioning of the crane andanti-swing.Firstly, combine the sliding mode control theory with passive control,construct sliding mode surface,change the system model,replace the Lagrangeequation with the first-order differential equations, using the characteristics ofthe passive system, taking the sliding surface as the output, and additionalcontrol as input, a closed-loop nonlinear feedback controller is constructed. Thecontroller has a parameter perturbation “fully adaptive features”,whichimproved the robustness of the system, and eliminate overshoot of the crane onthe positioning process, meanwhile making the load achieve the purpose ofanti-swing in a very short time.Secondly, based on Lyapunov function containing the energy of the system,on the basis of global asymptotic stability, construct the passive feedbackcontroller,using the tracking characteristics of the filter, whose output instead ofthe feedback speed of the crane, just using the feedback information of the cranedisplacement, the crane’s positioning and load’s anti-swing control effect arereached, which further simplify the design of the controller, reduce control costsand the complexity of the crane operation.Lastly, for the crane swing in the three-dimensional space, the system’spassivity is analysised, the system energy function is corrected. Using that the passive have non-singular points, the control structure is simple and robustcontrol characteristics, the feedback PD control device is structured. Thecontroller is applied to the crane lifting and transporting process, which has arelatively strong anti-interference ability and achieve positioning in a short timeand anti-swing control purpose.