Research On Information Fusion Anti Sway Control System Of Underactuated Overhead Crane

Overhead crane is a kind of equipment which is used in the workshop, warehouse, construction sites and so on. Due to its nonlinear and underactuated performance, there is still no suitable method to realize automat ic control. How to solve the contradiction between operating efficiency and load swing is the key problem of the crane. In this paper, we will do thoroughly research on the overhead crane system, and main work includes following aspects.Firstly, we analyzes the mechanical structure and working principle of overhead crane, and uses the Euler-Lagrange equat ion to establish the mathematical model to analyze its kinemat ic characteristics from its model and mathematical simulation of the system.Followed by in-depth study of the information fusion estimation theory and its algorithm, we discuss the principle and designed technique of linear and nonlinear information fusion optimal tracking control algorithm, and talk about the selection of information weight matrix, preview steps and iterative initial value. For the non-zero expected control, constrained control problems in performance index, we make a prelim inary analysis and discussion. Otherwise, for some states which can’t be directly observed in the system, we should construct a state observer to estimate other states.Then according to the unified measurement model of information fusion control algorithm and demand of crane control, we transform crane control problem to a optimal control problem of quadratic type performance index function which contains output error constraint and control energy constraint, and put forward overhead crane control algorithm based on information fusion control theory. For the problem of steady-state error in the rope length state of bridge crane, we design a double ring crane controller combined with the PID algorithm. The simulation results followed show that designed overhead crane controller has a good control effect.In the end, we build a small overhead crane experimental platform, design its crane movement control circuit board and write down lower driver program and upper computer interface to verify the validity of algorithm on the platform. The experimental results show that the controller based on information fusion has a good control effect.