The Research Of Harbor Bridge Crane Precise Positioning And Anti-sway Control System

Overhead cranes are widely used in port for load transfer, As its unique structure, it unavoidably causes swinging and displacement deviation while working. Newly the crane is controlled manually with the manipulator, For this situation, The article design a active positioning and anti-sway control system for overhead cranes, and design different controller accord to different control algorithms, and is important for bridge crane’s fast and safe operation.According to shipment process of one port, Analyze the motion characteristics of the bridge crane in the process. According to the mechanism modeling method, we use Lagrange equation building the Kinetic three-dimensional model of overhead crane system, And simplifing nonlinear equations of crane systems model within a reasonable range. Obtain Linear model of overhead crane system, we analyze that the three-dimensional overhead crane has the independence and equal effect moving in the x direction and y direction, simplifing three-dimensional dynamic model,and obtain a two-dimensional kinetic model.According to the mathematical model and control objectives of the bridge crane system, design corresponding conventional PID controller, And the use method of critical proportion tuning and optimization parameters of controller; Meanwhile simulate the control system in Matlab software, the simulation results show, Control performance can basically meet the control requirements of the site, However, the conventional PID controller is more sensitive to the changed load parameters, and has larger swing angle, Especially in face of storms and other outside interference, the overshoot and adjust time increased significantly, Therefore, the traditional PID control has certain limitations that applicated in bridge crane system.Port bridge crane is a complex system integrated with nonlinearity,time-variance, strong coupling performance and nondeterminacy. the paper adopts the merit of fuzzy control that does not depend on accurate mathematical model,to improve the poor Dynamic characteristics and weak anti-jamming performance of conventional PID controller,according to the characteristics of the port bridge crane and the experience of the workers, design the fuzzy rules that meet the the work conditions of the site, tuning parameter of fuzzy PID controller online. Design fuzzy PID controller with parameter self-tuning of the harbor bridge crane system according to the principle of control parameters on-line. The simulation results show, fuzzy PID controller is not only superior to the traditional PID controller in terms of positioning accuracy, is not sensitive to the system with changed parameters, but also enhance the adaptability to the changed conditions in operation, swing angle is small, improve the robustness of the system further.