| To meet the requirements of high efficiency loading and unloading of quayside container crane and promote the vigorous development of port logistics industry,it is a hot research topic to realize the precise positioning of quay crane trolley and the swing control of container simultaneously.According to whether there is feedback signal,anti-pendulum technology mainly includes open loop control and closed loop control.The open loop control has higher requirements for mathematical model,and the robustness is poor,so the control effect is mediocre.The closed-loop control can collect the swing angle in real time during the operation,and the control effect is good.Therefore,the closed-loop control method is adopted to study the pendulum control of the quay crane.Firstly,the mathematical model of the quayside crane hoisting swing system is established.The Lagrange equation method in analytical mechanics is used to derive the dynamic differential equation of the quayside crane hoisting swing system.The state space equation of the mathematical model of the quayside crane hoisting swing system is studied to verify the stability,controllability and observability of the mathematical model of the system.The model of quay crane load swing system is built in Simulink environment;an anti-pendulum controller based on PID control is designed,the simulation results show that the anti-pendulum controller based on PID control has a certain anti-pendulum effect,but it has the disadvantage that the parameters can’t be adjusted in real time.Then,the conventional PID control and fuzzy logic thought are combined to form the anti-pendulum fuzzy adaptive PID control(FPID)of quayside crane.The Simulink model of the anti-pendulum FPID control of the quayside crane is simulated and analyzed,the simulation results show that the FPID control systems can make the trolley reach the target position quickly and reduce the maximum swing angle of the hoisting.However,it is found that there is still room for improvement of the FPID controller.Finally,an efficient improved particle swarm optimization algorithm(IPSO)is proposed to improve and optimize the anti-pendulum PID controller of the quayside crane,forming the Simulink model of anti-pendulum IPSO-PID control of the quayside crane,and the simulation analysis is carried out.The results show that the IPSO-PID control system can synchronously realize the precise positioning of the quayside crane trolley and restrain the hoisting swinging angle,and the dynamic performance is good.Hence,anti-pendulum IPSO-PID control system of quayside crane has certain engineering application value. |
