Research On Anti-swing Control Technology Of Bridge Crane

The instantaneous starting,acceleration and deceleration,braking and other working conditions of the crane are easy to make the load swing with the hook to a certain extent.This not only affects the working efficiency and safety of the crane,but also has certain vibration and impact on the crane body and affects its service life.At present,although there are many researches on anti-swing control of crane,there are still many deficiencies.Most of the controllers designed in the literature do not consider the nonlinear and time-varying characteristics of the actual model of the bridge crane.The designed controller does not match the actual model,thus affecting the control effect and robustness.In view of the shortcomings of the existing anti swing control scheme of the bridge crane,this paper focuses on the anti-swing control of the bridge crane.The specific research contents are as follows:firstly,based on the Lagrange energy equation,the three-dimensional modeling of crane motion system is completed.The system is linearized near the stable point,and the linearized two-dimensional mathematical model of the bridge crane is obtained.Secondly,the anti-swing control objectives of the bridge crane are proposed:first,the crane can quickly eliminate the swing in the acceleration and deceleration process;second,on the basis of anti-swing control,the position of the trolley can be quickly tracked to achieve the precise positioning of the trolley position.The PID controller is designed according to the control target,and good control effect is achieved in the Simulink simulation.Thirdly,based on the state feedback control,the closed-loop gain matrix of the bridge crane system is solved by assigning a reasonable pole position for the closed-loop system,and the anti-swing control and precise positioning of the crane are realized.In the simulation test of Simulink,it is proved that the controller has better feasibility and stronger robustness than PID control.Then,based on the fuzzy control principle,the load swing angle fuzzy controller and the car displacement fuzzy controller are designed.The simulation experiment in Simulink shows that the fuzzy control can still achieve excellent control effect under the condition of system parameter error.Finally,on the basis of theoretical research,the physical design scheme of fuzzy anti swing controller for bridge crane is proposed.Based on the Lagrange energy equation,this paper establishes the motion system model of the bridge crane through the dynamic analysis.On the basis of the model,taking the quick elimination of load swing angle and precise positioning of the car as the control objective,the PID control,state feedback control and fuzzy control are studied respectively.Finally,the design of fuzzy anti swing controller for bridge crane is put forward.