Research On Anti-swing Control System Strategy And Device Of Garbage Grab Crane

With the rapid increase of urban garbage accumulation and people's increasing awareness of environmental protection,the construction of municipal waste incineration plant will increase.Therefore,the waste incineration plant will play a more and more important role in the reduction of urban garbage,the reduction of volume and harm-reduction of urban garbage.Garbage grab crane is an important auxiliary equipment in a waste incineration plant.In the waste incineration operation,due to the flexible suspension structure connected between the garbage grab crane and the grab,there will be swinging problems in the operation of the system.Such swinging not only increases the difficulty of positioning the grab but also affects the grab catch and release movements,what's more,easily collide with other objects around cause an accident.Therefore,it is of great significance to design the anti-sway control device of garbage grab crane to improve the work efficiency and safety of a waste incinerator plant.Firstly,this paper analyzes the operating structure of garbage grab crane,adopts the method of mechanism modeling,builds the dynamic model of garbage grab crane by Lagrange equation,and linearizes the model.On the basis of this model,the performance of garbage grab crane system discussed,and simulation analysis using the traditional control scheme of the PID control and state feedback based on LQR to realize the anti swing grab and trolley position control,points out the limitations of establishing linear model in practical engineering application.Secondly,based on the analysis and research of the fuzzy control theory,the fuzzy controller that does not depend on the precise mathematical model is proposed to design the controller.Considering the movement of the car and the swing of the grab,four input variables are set in this paper,but in order to simplify Fuzzy rules,the controller is proposed to design a two-dimensional and one-dimensional combination of programs.Through system simulation analysis,better control effect is obtained without initial disturbance.Once more,according to the selection of single fuzzy controller of fuzzy rules and membership functions is very subjective,and in order to enhance the robustness of the system,the increase in artificial neural network based on fuzzy control,puts forward the design method of adaptive fuzzy neural network controller.The simulation shows that the control effect is not only equivalent to fuzzy control,but also achieves good control results in the presence of initial disturbance,which basically meets the requirements of engineering for grab swing control and positioning control.Finally,the anti-swaying device of garbage grab crane is designed by adaptive fuzzy neural network control strategy.The design of the whole system includes the hardware structure and software design.Hardware structure includes control board,swing angle measurement module,position and speed measurement module and communication module.The software part mainly completes the function of each module.In the simulation experiment to achieve better control effect.