Research Of Container Crane Automatic Anti-sway Control Method

In order to promote the development of modern logistics transportation enterprises,there is a need to improve the loading and unloading efficiency of container crane.Thus there is need to make the container crane more large-scale,rapid and intelligent.The first problem that needs to be solved to achieve this goal is to obtain the car location and synchronous control of crane load stabilization.In general use on the port crane mechanical anti-sway and electronic anti-sway methods are used to achieve the goal of roll reduction.The reliability of the mechanical anti-sway is poorer and the control effect is not ideal.Electronic anti-sway system is dependent on the accurate mathematical model and this system can’t vary according to the real-time behavior of the system.According to the actual movement characteristics of container crane,this paper will use the generalized coordinates in analytical mechanics Lagrange’s equation to establish the dynamics equation of the anti-sway system.The range of allowable movement in the engineering practice and through reasonable simplified method,the linearization of nonlinear mathematical model,will be used to simplify all the model through the pallas transform to make it a classic transfer function model of the control.Container crane is a nonlinear,time-varying,uncertainty,and strong coupling for the integration of complex system.In container crane anti-sway system a conventional PID correction ia conbined with fuzzy controlle.Using Matlab/Simulink software environment,the design is suitable as the control system for the dynamic characteristics of the car displacement.Simulation of the fuzzy adaptive PID controller and control load swing Angle of the fuzzy adaptive PID controller,simulation analysis to has found that when there is system disturbance,the fuzzy adaptive PID controller has limited adaptive ability,and limited control precision.In order to solve this problem,the fuzzy adaptive PID controller needs to be improved.Through comparison and analysis,it was decided to adopt a quantitative,scale factor anti-sway for the self-adjusting fuzzy control system,The system model was used to vary parameters and external interference experiment.Change of container crane hoisting rope cord length and the quality of the suspended load,and the introduction of different types of interference were analysed in the system model for the simulation analysis.Results show that the adaptive quantization,the scaling factor fuzzy control system of the anti-sway control precision is high,The external and internal disturbances to the system is strong,and has better dynamic and static performance and robustness.So it has a stronger practical potential.