Research On Horizontal-moving Hoisting System

In the automated production field, there is growing concern on the automated material handling systems which can Handle the necessary materials to appropriate locations effectively and quickly. Regarding the widely applied hoisting machinery for handling materials, positioning inaccuracy and instability are the main issues that plague its production efficiency. Therefore, the development and application of new materials hoisting devices which adapt to the developing requirement of modern enterprise have relatively important practical application Significance.On the basis of compared new hoisting devices at home and abroad, this paper designed mechanical structure of rail system, the horizontal drive system and angle sense system for hoisting system, described the function and working principle of the various parts, and maked the load analysis on key parts using ANSYS. At the same time, established the dynamic model of the hoisting system by applied knowledge of analytical mechanics, verified the validity of the mathematical model by simulation.In order to solve the positioning inaccuracy and Instability problem in common hoisting devices, this paper proposed a double closed-loop PID anti-sway control program according to the dynamic model of hoisting system, designed the controller of inner-loop and outer-loop by using the knowledge of classical control theory, and maked a comparative analysis of simulation results.According to the practice situation of hoisting system, this paper introduced the Hardware-in-Loop simulation based on dSPACE, placed the hoisting system into the control-loop through the dSPACE real-time hardware, established control system model using dSPACE, adjusted its real-time control parameters, validated and observed control effect of PID control algorithm. Finally, it carried out the closed-loop speed control experiment, closed-loop position control experiment, reference speed input experiment and anti-swing algorithm control experiment, to avoid the effect of inaccuracy of hoisting system modeling for the system error and control accuracy.