| Crane is an important loading equipment for large cargo hoisting and logistics transshipment.Its transport efficiency directly affects the efficiency of engineering construction and the development of logistics and transportation industries.However,when most cranes are hoisted by wire rope,it will inevitably cause the swinging of suspended objects in the process of starting and stopping,rising and turning.Because of the swing problem,the construction efficiency of the crane is reduced,and the serious accident will cause the loss.This paper mainly focuses on the study of anti-pendulum control system for crane carriage.In this paper,starting from the actual object,aiming at the current status of construction site,we study a set of crane driving auxiliary system to meet the safety and efficient operation.In this paper,the solution of the crane wobble prevention and rapid positioning is studied in view of the swinging of the crane suspended objects.This paper focuses on the analysis and demonstration.The Lagrange modeling method is used to build the crane dynamics model and simulate by Matlab.The theoretical principle and the derivation and validation process of the overall scheme are elaborated in detail,and the physical experiment platform is built.Secondly,according to the functional requirements of the system selection analysis of key sensors and other main devices,by Freescale MCU MC9S12 Carle completed the system hardware circuit design as the core,and analyzes the hardware design process may have all kinds of influence factors and Countermeasures.Software programming combined with complementary filtering,Kalman filtering and attitude calculation based on Euler angle.Finally,the closed loop control mode based on the angle feedback is used to drive the trolley to realize the anti-Pendulum Control of the crane’s suspension.The research shows that the pendulum anti swing control scheme in this paper realizes the automatic control of pendulum anti swing.The swing of crane suspender during operation is effectively controlled.At the same time,the accurate positioning of the crane trolley is completed,and the efficient operation of the crane is realized. |
