Research And Experiment On Swing-Coulping-Suppresion Of The Running Crane's Hoist

Cranes are widely used in various fields of industry,such as rail transit,marine terminals,manufacturing,logistics,engineering construction,military,etc.And,their operation efficiency affects the production efficiency of various industries.At present,one of the key factors restricting the efficiency of crane is that it cannot achieve accurate loading and unloading smoothly and quickly because of the flexibility and acceleration load of the wire rope.The rigid-pendulum suppression test platform of the running crane's hoist has been built based on the kinetic differential equation of the running crane's hoist and hoisting swing.Besides,coupling features of the running crane's hoist and effective control strategies that based on the PID control algorithm have been studied from the perspective of theoretical simulation and test.Firstly,kinematic and dynamic mathematical model of the running crane's hoist has been established.And,the motions of the model have been divided into two classes: rigid-pendulum general motion model and rigid-pendulum impact model.According to the initial state of the running crane's hoist based on the displacement of the crane and angular displacement,the states of the dynamic mathematical model have been divided into 18 types.The kinematic differential equations and dynamic state equations of the rigid-pendulum general motion model and the rigid-pendulum impact model have been derived.Secondly,the 8 types,which was classified according to the angular displacement and the crane's speed and direction,of the rigid-pendulum general motion model have been simulated.Besides,the comparison between the free-swing motion and the antisway of the PID control of rigid-pendulum impact model has shown the PID control algorithm has a great effect to suppress swing of the crane.The maximum vibration amplitude is 0.05 rad,the number of oscillation is 0.5,the time needed to be stable is 2.2 second and the time needed to become stable is reduced by 81.67% of the model that has used PID control algorithm.Thirdly,The rigid-pendulum suppression test platform of the running crane's hoist has been established in order to verify feasibility and effectiveness of the PID control algorithm.The LABVIEW has been used to establish the experimental PC control system,and the STM32F103 has been used to establish the experimental lower control system.The PID control algorithm has been designed according to the simulations and the analysis of the kinematic and dynamic equation.Finally,the comparative analysis of the simulations and the test data has been carried out.And the influence of moving distance and moving speed of the slider of the rigid-pendulum suppression test platform has been focused on.The results of the simulations and the test are very close.Through the test,the PID control algorithm has a great effect on suppressing the swing of the rigid-pendulum suppression test platform.At the same time,The swing of the rigid-pendulum suppression test platform will be abnormal under certain conditions because the boundary condition of the crane running displacement is coupled with the hoisting swing.