The Intelligent Control Mechanism Research Of Bank Bridge Crane Anti-swing

There are a lot of factors to influence the loading efficiency of container bank bridge, but one of the most important factors is that when the car reaches the goal position and stops, the goods can't be stopped immediately, namely "swaying ". In order to improve the efficiency of loading and unloading, people have studied numerous "pendulum control" methods, such as machine, hydraulic pressure and electronic control methods. The machine and hydraulic pressure methods are gradually being replaced by electron control system, because there are many disadvantages for them, for example, too much ancillary equipments, complicated structure, bad reliability, heavy maintaining work and high cost. At present, the electron pendulum control products which can be used in practice mostly come from foreign countries. The loading and unloading system is a nonlinear time-varying indeterminate system with inertia which can't be effectively controlled by classic control methods. So it ordinary adopts automatic and artificial controlling mode. On this mode, the operating skill by driver will directly influence the efficiency of loading and unloading. If there is a controlling system which not only can simulate the controlling of practiced worker but also have full automatic controlling, then the efficiency of container unloader can be promoted heavily. It's Fuzzy Intelligent Controlling System has the function.In the course of studying, I firstly analyze the trolley and unloading operating mode, then study the principle of pendulum control and certificate it by numerous physical tests and have made better result, finally develop the electron pendulum control system.The writing of this dissertation is as follows: firstly introduces significance of the intelligent electron pendulum control system, domestic and international researching status and the dissertation's main content; secondly introduces the theoretical foundation of anti-swing(fuzzy logic, fuzzy control, computer vision measurement and the use in the pendulum control system for them); then analyzes the trolley and goods' operating mode under the bank bridge's operation state; finallydesigns the intelligent electron pendulum control system. The content of this dissertation includes:1. research on the theory of fuzzy intelligent pendulum control;2. research on fuzzy control algorithm;3. research on mathematic model of the pendulum of hook and container;4. development of the intelligent electron pendulum control system;5. research and measurement on the tightwire's beat angle and angular acceleration of the trolley.The intelligent electron pendulum reduce system in the dissertation is feasible, practical, advanced and novel. Its merits includes four points:1. It can effectively control the pendulum's swing during container is loaded , unloaded and located. The test has proved that this system has better control effect and can be used in practice. The control method is feasible and practical.2. This system uses the most advanced machine vision test method to thoroughly solve traditional electron control system's disadvantage, such as difficult to gather data together, apt to external interfere and high cost etc. It's method is novel and advanced.3. Compared to conventional mechanism pendulum control systems, it reduces many large equipments and avoids lots of problems such as assembly and maintenance etc. So it is economical and practical.4. Solving the anti-swing problem of pendulum, it can realize time minimum and accurate location; witch is good for optimizing the system.The dissertation is a successful research on fuzzy intelligent control used for pendulum control system. The next step is applying this system to practical engineering, adjusting the hardware and software and gradually perfecting.