Research On Intelligent Anti-sway System Of Crane Based On Embedded System

As a modern transportation tool,bridge crane is widely used in various production and transportation places such as docks,warehouses,factories and so on.During its operation,due to its non-linearity,under-driving,strong coupling and other characteristics,it will produce suspension swings due to internal and external factors such as inertia,wind force,external collision,etc.,which will not only reduce the operating efficiency,but also have huge hidden safety hazards.How to adopt a scientific control strategy to suppress the swing of the load and improve its safety and stability is a very important issue.In this paper,by analyzing the operation mechanism and main factors of the bridge crane system,the simplified mathematical model of the system is established by the Lagrange equation under the generalized analytical mechanics.After linear simplification of the unnecessary factors of the model,the transfer function and state equation of the system are obtained,and the characteristics of the system are analyzed theoretically.On the basis of the model,PID controller and fuzzy controller are designed respectively according to the system characteristics and control objectives of the bridge crane,and the simulation is carried out in Matlab / Simulink according to its control principle to analyze the control effect of the two algorithms.Based on the research and Simulation of traditional PID algorithm and fuzzy control,an improved fuzzy self-adaptive PID controller of crane anti sway system is designed,and the simulation results and performance parameters are compared with traditional PID control algorithm and fuzzy control algorithm.It is found that the control scheme can improve the response speed of high displacement and swing angle,reduce the swing angle overshoot and meet the positioning accuracy requirement.Compared with the traditional control algorithm,the fuzzy adaptive PID controller can solve the problem that the traditional control method depends more on the accuracy of the model,and has better robustness,real-time and accuracy.Aiming at the problem that the traditional bridge crane PLC control system has simple structure and is not conducive to the realization of complex algorithm,this paper designs an embedded bridge crane intelligent control system based on STM32 to replace the traditional PLC control,integrates the control algorithm in the embedded controller,and designs the corresponding peripheral circuit to meet the needs of information transmission and human-computer interaction,which improves the integration and information transmission of the system Reliability and practicability of the algorithm.Through the field experiment and test,the designed anti sway control system based on embedded bridge crane can meet the control requirements of the project site,and achieve a good anti sway and positioning effect compared with the traditional control method,which can greatly improve the work efficiency and safety of the workshop.