Container Gantry Crane Dynamic Model And Simulation Analysis Of Anti-Swing System For Trolley-Load System

The crane has played an important role in the implementation of cargo handling places of factory workshop,port,railway and other areas.With the continuous expansion of the scale of production and the continuous development of the transportation manufacturing industry,the application of cranes is more and more extensive.In this thesis,the container gantry crane as the main research object,the purpose is to control the weight deviation of the container gantry crane.In order to improve the efficiency of container loading and unloading,and improve the safety of the operation.In order to realize the control and precise alignment of the hanging weight,the state feedback control system which is composed of the observer and the controller is designed to accomplish this goal.The research work is mainly from the following aspects:(1)The spatial coordinate system is established in three directions: the trolley,the cart and the lifting crane.Based on the generalized coordinates of the Lagrange modeling method,the mathematical model of the container crane trolley lifting system is established.The conclusion that the movement of the trolley cart is independent of the lifting weight in each direction is an independent influence.A two dimensional model of the container crane trolley lifting system is established.And the nonlinear model is simplified.The state equation and transfer function of the system are obtained.And the stability,observability and controllability of the system are analyzed.(2)The open loop system Simulink model is established in this paper container crane using MATLAB/Simulink software.Dynamic model of container crane trolley stop stage and the car stopped after the lifting of the swing phase is simulated.The accuracy of the model was validated.(3)The container gantry cranes swinging angle measurement technology is difficult.The state variables are estimated and measured by setting the state observer.The trolley-load system and the observer form the soft measurement system of the hanging angle.It saves the cost of the measurement,and completes the information measurement of the angle of the swing.The estimated information can be transferred to the deflection control system.A sliding mode observer is designed for the observer to deal with the problem of robust disturbance.(4)In view of the instability of the open loop system of the container gantry crane,the pole size and position of the system are reasonably configured with the state feedback control method.The state observer and controller are combined to form the partial swing control system of the container gantry crane.Simulation results are used to test the effect of deflection control.The validity and practicability of the control system are verified.