Research On Passive Anti - Swing Control Method For Tower Crane

The tower crane as an important handling tool, its work is always affected by various factors. These factors will lead to positioning error as well as the load swing, thus reduce the work efficiency and cause accidents. Tower crane system is coupling, nonlinear and underactuated. The traditional control method is difficult to achieve effective control. In view of the tower crane system, according to characteristic of tower crane operation, and based on the passive control theory, combining advanced and intelligent control methods to design the control system. Then the result of matlab can indicate these methods can reach the expected goal.First of all, the research status and the development situation are analyzed. Then the mathematical model of tower crane is be established according to the euler-Lagrange. The characteristic also be analyzed.Secondly, the model of tower crane can be divided into two parts according to the tower crane operation characteristic, which are the range of motion and rotary motion. The power of system can be analyzed, the power function is established and energy function is modified according to the passive control theory in order to Design passivity controller. On the basis of fuzzy control and neural network to study of subordinate function, passive fuzzy neural network control system is designed. Through the result of matlab, the effectiveness and robustness are be proved.Thirdly, the method of backstepping sliding mode control is proposed based on the passive control theory. The optimal state space function is used as the input of backstepping. Then through iterations, backstepping and optimize the Lyapunov function, design the control system. Backstepping sliding mode control not only uses the simple structure and strong robustness, but also combines stability and good performance of backstepping control. The precise positioning and load anti-swing are realized.Finally, the Hamiltonian system of tower crane can be established through the Legendre transformation. Then the interconnection and damping assignment passivity-based control system can be designed. This method is based on the total energy of system, and making the energy function more intuitive. The controller not only has the characteristics of energy balance, but also has generalized stability. The requirements of positioning and anti swing are met.