Study Of Crane System Anti-swing Control Based On PID-LQR

Cranes as mechanical equipment of conveying,loading and unloading,are widely used in factories,workshops,warehouses,wharves and mangy other industrial places,and play an important role in manufacturing and transport.In the process of work,the motion of crane trolley will give rise to swing of load.Not only bad to transportation,but also increase security worries and affect an efficiency of the crane seriously.In order to guarantee the safety in production and improve the work efficiency,this paper takes a research on swing phenomenon of crane system.Ranes as mechanical equipment of conveying,loading and unloading,are widely used in factories,workshops,warehouses,wharves and many other industrial places,and play an important role in manufacturing and transportation.In the process of working,the motion of crane trolley will give rise to swing of load.Not only bad to transportation,but also increase security worries and affect an efficiency of the crane seriously.In order to guarantee the safety in production and improve the work efficiency of crane,this paper takes a research on crane anti-swing control system.This paper takes a study on crane system by using crane anti-swing experiment equipment provided by B & R Co.,LTD.The dynamical model of crane system was established and its characteristics was analyzed.Then,the crane system was controlled by adapting PID-LQR algorithm.Finally,the program was written by C language in Automation Studio software,and was verified on experimental equipment.This paper analyzed the reason for load swing of crane system.With the method of mechanism modeling,dynamical model of crane system was established through the Lagrange Equation.And then,combining with specific conditions in the crane working process,some necessary assumptions were made.The wind,air resistance,friction and other factors were ignored.The dynamical model was simplified further.And both transfer function and state equation were obtained.Then,with the method of experimental modeling,this paper got the relationship between crane trolley velocity and load angle.Finally,the equivalent model of crane system was analyzed by characteristics of MATLAB.This analysis illustrated that the crane system was stable with good observability and controllability.This paper uses optimal control algorithm of Linear Quadratic Regulator to design crane anti-swing system.In order to optimize the control performance,combined with the classical PID algorithm,the PID-LQR controller of state feedback and output feedback was design for controlling trolley's motion state and load angle.Combined with the simplex optimal method,multi-objective genetic algorithm was used for global optimization to adjust PID parameters.Finally,a set of optimum parameters was obtained.The reasonability of algorithm was illustrated by SIMULINK of MATLAB.In the end,on the crane anti-swing experiment equipment,the programming of LQR and PID-LQR algorithms were written in C language and Human Machine Interface were designed by Automation Studio software.Therefore,the experimental equipment of crane anti-swing system was controlled by PLC.The experiment result shows that the PID-LQR controller has a good performance in eliminating the swing.The average time for adjustment of crane system is 2s,and position overshoot within in 1%.