Research On Anti-sway Technology Of Overhand Crane Based On New Control Concept

With the continuous development of the crane industry,the lifting load on the cargo is getting larger and larger,and the swing problem will become more and more prominent.This paper studies and summarizes the anti-sway of bridge cranes,and concludes the factors and methods to reduce the crane’s swing,and improves the safety performance and work efficiency of bridge cranes.Firstly,the dynamic model of the bridge crane was established.Considering that the vehicle running mechanism and the trolley running mechanism have the same influence on the load swinging factors of the spreader,this paper only considers the trolley running mechanism.Using the Lagrangian equations for analysis and summarization,some of the system’s factors were simplified,and the linear equations affecting the crane’s swing were obtained,and the factors affecting the swing were obtained from the equations.The MATLAB simulation is used for two conditions of the bridge crane,considering the influence of the rope length and acceleration respectively.The effect of rope length and acceleration on the sway of the crane is derived,and a method for reducing the sway is obtained.Secondly,some anti-sway devices of bridge cranes are analyzed and discussed.Among them,in the mechanical anti-swaying,taking the bridge crane as an example,the simulation of the common four-rope device and the inverted eight-word anti-swing device is performed,and it is found that the anti-sway device of the inverted eight-word anti-swing device has better anti-swaying effect.Through the research on the driving device of the bridge crane,it is concluded that the virtual shaft synchronous control method can better reduce the swing phenomenon of the crane.Finally,the teaching reproduction system in the robot is applied to the crane and combined with the fuzzy control,this new control concept can suppress the swing of the bridge crane very well.The teaching and reproducing system selects the embedded control system.Through the analysis of the types of the embedded control system,the embedded DSP processor suitable for the teaching reproduction of the bridge crane is obtained.The embedded DSP processor is better for digital signal processing..Choose the right photoelectric encoder and motor.Completion of the control program for the teachingreproduction of bridge cranes.Based on the bridge crane model,the fuzzy control is applied to the bridge crane and the nonlinear modes are compared.The results show that the fuzzy control can effectively control the anti-sway phenomenon of the crane.The research of this dissertation can provide reference for the establishment of the dynamic model of bridge crane,the factors influencing the crane’s swing and the anti-swing type analysis of the crane,and also provide a reference method for the anti-sway of the bridge crane.