Research On Swing Control Of Tower Crane Based On Fuzzy Active Disturbance Rejection Control

Abstract:In the process of cargo-lifting with tower crane, the problem of swing has a severe effect on the working efficiency of tower crane. If the process of the tower crane movement can be controlled, making the ropes stop swinging when the tower crane carrying the cargo to the destination, the working efficiency and safety of the tower crane can be promoted effectively. To achieve this aim, this essay will deal with the following aspects:(1) Adopt Lagrange Equations to set up dynamics model of the swing of tower crane,and analyzed the stimulation of the coupling of amplitude motion and rotary motion. The results shows that if there only exists motion, the amplitude angle will occur. But if amplitude motion and rotary motion go on at the same time, amplitude motion will affect rotary angle by changing the position of the cart on the lifting arm. Under the circumstance that rotary accelerate is the same, the further the position of the cart on the lifting arm, the larger of rotary angle. However, rotary motion can have a direct influence on amplitude angle, the higher rotary accelerate is, the greater influence it will have on amplitude angle.(2) A tower crane is a typical nonliner underactuated system with strong states coupling, Active Disturbance Rejection Control Technique can be adopted to control the swing of tower crane. Since regular Active Disturbance Rejection Controler(ADRC) is only suitable for single-input and single-output system, we can adopt the error combination of cart position and sway angle to form the control laws and design a new ADRC applying to the control of swing of tower crane, thus we can achieve the real time control of cart postion and sway.(3) In order to improve the controlling effect of ADRC, the fuzzy algorithm is introduced, that is self-tuning the gain coefficients of the errors of car position and sway angle.The result shows that not only fuzzy ADRC can swing the cargo to the destination in a short time, but also the swing stops, which is free from interference and robustness. (4) According to the function requirement of fuzzy ADRC system, the related software and hardware are designed.