Research On Path Planning Of Overhead Crane Based On Anti-sway Control

As a large-volume and wide-ranging lifting and transportation equipment,overhead cranes are widely used.Its operating efficiency is closely related to the production efficiency of factories.Therefore,the research on automation and intelligence of overhead cranes is of great significance.Path planning is an important part of the intelligentization of overhead cranes,and the path planning that considers anti-sway is of practical engineering significance.Therefore,this paper firstly studies the anti-sway and positioning control problems of the overhead crane,and studies the path planning problems combined with the running characteristics of anti-sway crane.This can greatly improve the practicability of the control method and the working efficiency of the overhead crane.In terms of anti-sway and positioning control,this paper first uses Lagrange equations to establish a dynamic model and establishes an open-loop control simulation model for verification.On the basis of this model,a conventional PID controller is added for control,and then the shortcomings of the conventional PID controller are improved.On the basis of the original model,the fuzzy controller is added,and the two control methods are respectively used to carry out simulation experiments on the same working conditions.The comparison of experimental results shows that the fuzzy PID control method is more effective.The design simulation experiment by changing the length of the wire rope and the weight of the system verifies that the fuzzy controller has strong robustness.The fuzzy controller is used to simulate the movement of gantry and trolley at the same time,and different initial parameters of the gantry and trolley controllers are respectively set for simulation,and the running trajectory curve of the hoisting load is obtained,which has guiding significance for the path planning research.In terms of path planning problem of the overhead crane,this paper combines the operating characteristics of anti-sway cranes,the operation map of the crane is established by grid method and A* algorithm is used for planning.and analyzes the planning results based on the operating characteristics of the crane.The first improvement strategy is proposed and the planning results are compared,which reduces the number of inflection points during the operation of the crane,reduces the number of starts and stops,and improves the operating efficiency of the overhead crane.After the map environment is changed,the planning results of the first improved A* algorithm are analyzed,and the second improved strategy is proposed to further improve the operating efficiency of the crane.On the basis of the second improvement strategy,the reverse search method is added to reduce the path inflection point as much as possible,which greatly improves the operating efficiency of the overhead crane compared with the conventional A* algorithm.Finally,this paper builted an overhead crane model in a laboratory environment,and designed experimental schemes for anti-sway control and anti-sway-based path planning respectively.In the anti-sway control experiment,the control program was written for the gantry and trolley to run separately and at the same time,and use the attitude sensor and encoder to measure and record the hoisting angle and displacement data during the operation,the simulation results of the simulation model built in MATLAB are compared to verify the accuracy of the controller designed in this paper.During the path planning experiment,the two-dimensional working environment of the overhead crane was arranged according to the settings in MATLAB,the control program was written according to the path planning results,and the data such as the swing angle of the lifting and the displacement of the gantry and trolley during the operation were collected and verified by comparison with the simulation results.At the same time,two operation modes without anti-sway control are designed.By comparing the running time of each mode,it is proved that the path planning method based on anti-sway can greatly improve the work efficiency.