The Research On Underactuated Control Algorithm And Its System Design Of Smart Tower Crane

With the rapid development of modern industry, tower crane is widely used in various fields. However, it’s dangerous when the load swings during transportation which has become the focus of current concern. Because of the communication with external devices, tower crane control system becomes more complex, so that existing equipment cannot meet the requirement. Therefore, to explore and study a reliable and effective anti-swing and swing elimination method for construction safety is full of significance. Meanwhile designing a novel stable, high-performance controller to enhance safety, execute control algorithms and communicate with other equipment become more and more important.Secondly, the article introduced the concept and classification of mechanical control system. Compared with entire drive mechanism, it introduced the underactuated machine control system. Combined with Lagrange modeling method, it showed the step of modeling an underactuated mechanical system. According to the working conditions, three-dimensional model of tower crane was established and the specific expression was given. After the expression is linearized, we got the output curves by simulink, to some extent, which verified the rationality of the model.After getting the control model, partial feedback linearization is used to transform the tower crane control system. After realizing the decoupling of the input and output, the system became a closed loop system. The whole control system was set up in Simulink and the simulation results proved that the anti-sway control method is effective and rapid under different initial values.Thirdly, according to the modularity, the whole structure and function of the control system was designed. The article described each module of the new controller with remote upgrade capability based on DSP28335 in detail. At the same time, the software of input and output control, underactuated anti-sway algorithm design and external devices communication are described.Finally, on the basis of the complete system experiment platform, according to the expectations of system function, the overall control system working results were validated. At last, the basic functions of the controller were test under industrial environments, and we get the ideal results.