Mechanics Analysis And Application Of Three Dimensional Bridge Crane In Anti-swing

Three-dimensional bridge crane is a kind of a vehicle and it is widely used in factory floor,construction site,loading and unloading cargo and other occasions.The fast and accurate positioning and anti-swing of the three dimensional bridge crane is of great significance to people's work efficiency and safety.The traditional positioning and anti-swing mainly rely on the operator's experience.It has the problem of low efficiency and poor security.The use of automatic control can effectively overcome the above shortcomings.At present,the control of the three dimensional bridge crane has many problems,such as long time and low precision.In order to solve these problems,an optimal controller is designed and simulated,and experimental research is carried out.In view of the anti-swing of the three-dimensional bridge crane,a control scheme is proposed.Based on the domestic and international research results about the control of the three-dimensional bridge crane,the solution of the fast positioning and anti-swing of the bridge crane is systematically analyzed,and the mechanical model of the crane is constructed by the method of Lagrangian modeling.Ignoring some minor factors,the linear processing of the three dimensional bridge crane is carried out.According to the linear model of the three dimensional bridge crane,Laplace transform is carried out to get the transfer function of the three dimensional bridge crane system,and the controllability and observability of the crane system are analyzed.According to the basic principle of PID(proportional integral differential)control,the simulation model of the three-dimensional bridge crane is built in Matlab,the PID controller is designed,the PID parameters are adjusted,and the simulation curve of the PID control of the three dimensional bridge crane is obtained.According to the basic principle of linear quadratic optimal control,the linear quadratic optimal controller of a three-dimensional bridge crane is designed by solving the matrix P and the feedback matrix K through the Riccati equation.The optimal control parameters are set and the simulation curves of the optimal control of the three-dimensional bridge crane are obtained,then the positioning control of the input signal is given to the position of the vehicle.The feasibility of the proposed contorl scheme was tested by a three-dimensional bridge crane test.The function of the optimal controller is better than the PID controller under the same conditions.The experimental results validate the correctness of the theoretical analysis.