Research On Fuzzy Control Of Portal Crane's Automatic Traveling Position

As a typical equipment in lifting and handling system,crane has been widely used in various fields of production practice.The dam crest gantry crane(referred to as the gantry crane)in the hydroelectric power plant is mainly used to lift and convey the gate.The traditional positioning method of the gantry crane is that the driver visually inspects the walking position of the crane with the cooperation of the ground staff.When the gantry crane approaches the gate well position,the accurate positioning of the gantry crane can be achieved through position fine-tuning under the command of the ground personnel.The positioning method mentioned above is low in efficiency and positioning accuracy,and requires multiple people to participate in the waste of manpower,which is inconsistent with the current automatic production level of hydropower plants.Therefore,the research on the automatic walking position control system of gantry crane has practical significancFirstly,the paper describes the structure and operation mode of the gantry crane on the dam crest of Fengman Hydropower Plant,and propose the automatic control scheme of gantry crane walking position aiming at the distribution of positioning points and traditional operation mode of the crane: laser rangefinder and RFID card reader are used as the position detection sensor,and PLC is used as the core controller combined with fuzzy control strategy to control the walking velocity of the gantry crane,then the position control is realized.The model of fuzzy control system for the gantry crane position is established and simulated by the Simulink module in MATLAB.The simulation results show that the overshoot of the designed fuzzy controller is obviously less than that of traditional PID control.At the same time,anti-jamming and speed of response are significantly superior to the traditional PID control after adding disturbance.Secondly,the PLC program and human-computer interaction program for the fuzzy control of the automatic walking position of the crane are developed.Among them,the human-computer interaction uses Win CC Flexible as the development platform,and the operation interface has great man-machine interaction and operation orientation.At last,the field implementation is carried out.The result of field debugging shows that the position control accuracy of the designed fuzzy control of the automatic walking position of the crane system is within the allowable deviation range,which can meet the requirements of the gantry crane operation on site,and achieve the effect of automatic walking position control to position steady and rapidly.The system is successfully operated in Fengman Power Plant with good effects,which improves the comprehensive automation level of hydropower plants.