Path Planning And Path Tracking Research For Overhead Crane

Intelligence and automation of engineering machine are main approaches to enhance productivity and lower manpower cost in industrial production and they are inevitable trend of modern industrial technology development as well. The program of intelligent overhead crane system with dynamic route planning and path tracking function are proposed in the paper by studied the robot technology. The overhead crane has the ability to plan path voiding obstacles with own sensor system in complex environments which provides a theoretical basis for intelligent overhead crane. The main contents are as follows.Firstly, intelligent system of overhead crane is proposed with the existing working principle and hardware of robot systems and control system status of overhead crane. Moreover, in the paper, a new positioning method was designed to improve the positioning accuracy according to the existing system defectsBased on the intelligent operation system, the optimal path of overhead crane in global static environment was got with the grid maps connecting ant colony algorithm. Subsequently, for dynamic obstacles in working environment, double-path planning framework is presented by the combination of rolling window and global path planning algorithm. The paper gives several kinds of dynamic obstacle avoidance strategy according to the analysis of motion and analysis the security constrained by geometric space. MATLAB simulation tests confirmed the feasibility of dynamic obstacle avoidance algorithm for dynamic path overhead crane in the complex work environment planning.Finally, researches on path tracking of the bridge crane are conducted. By studying the path features get by the dynamic planning algorithm method, the virtual shaft control strategy is adopted in motor speed synchronize control. The acceleration feedback was introduced on the basis of motor in this paper and the simulation outcome proves that the performance of synchronization has been improved owing to the acceleration feedback. The model of virtual shaft control system is built in MATLAB/Simulink environment and the results shown that the system have ability to maintain synchronous operation. The result of the path simulation and calculation proves the excellent path tracking performance of the system even with the outside interference.