| As the development of the modern industry and automation, the use of overhead crane is more and more widely. Especially for auto-overhead cranes, except for route planning, the swing of the load when moving is one of the factor that affect the efficiency of the overhead crane, even may cause accident. Therefore under the premise of ensure the efficiency of the overhead crane, the anti-swing for the load has a significant meaning for overhead cranes. For the container overhead cranes, the "horn in reverse" type wire rope anti-swing system can be used to reduce the swing of the load. But for single-rope overhead cranes, there is no ideal anti-swing solutions.Based on the background, in this paper, the dynamical model of the overhead crane is established at first. As the crane cart and the trolley have the same independent motion form, only the motion of the trolley is discussed in this paper. The dynamical features and the cause of swing is analyzed, and the optimum control strategy is given in this paper. As in present overhead crane control systems, there are position feedbacks of the crane cart and trolley and the height of the load, but there is no angle feedback for the load. According this, an open-loop anti-swing strategy for overhead cranes is given, and experiments both in Matlab Simulink and on the steel roll overhead crane of the Dalian Huarui Heavy Industry Group Co., LTD are performed.Considering the error of the system model and other factors, using open-loop control method, the anti-swing procedure was not performed as accurate as expected, there is still errors. Therefore design an open-loop anti-swing controller for overhead crane based on Run-to-Run control and fuzzy control theories under the premise of knowing the swing angle of the load. Simulating experiments are performed in Simulink, which proves that the controller has certain adaptability, and the anti-swing result basically meet the requirements. |
PDF Full Text Request