Study On Intelligent Anti-swing Control Technology For Horizontal Moving Process Of Bridge Crane

Generally, the loading efficiency of crane is mainly influenced by swing of hanging objects. As an active method for avoiding swing, electric anti-swing combine swing-decreasing with movement-control to improve the efficiency of crane, and lighten the intensity of driver without driver's experience. Therefore it will be used widely for loading of port and factory.In order to attain experimental result, the experimental model of crane system is made. Using PCL-818L card as data channels, the Real-Time Windows Target toolbox of MATLAB and proportional reduced crane model are used to build a hardware-in-loop simulation experiment platform. The platform may provide research environment for SISO MIMO nonlinear time variance control system.Aiming at the actual crane model, the basic method of theoretic mechanics and Lagrange equation is used to establish three-dimensional dynamics of the system and simplified dynamics of fixed stringy crane system. In this way, the simplified model linearization was accomplished, and model of state space is obtained.Comparing with controlling result of using PID algorithm as a controller on disturbance condition, the fuzzy control law is put forward to solve orientation and anti-swing of crane. Anti-swing and orientation controller is design respectively. The fuzzy location controller and fuzzy angle controller are used to realize the accurate location and anti-swing. Using this method, the design of controller is simplified, and the operation amount of controller is decreased.To eliminate the steady-state error in fuzzy control, a method was presented in this thesis. In brief, it is using fuzzy auto-tuning PID location controller combined with fuzzy angel feedforward controller to eliminate steady-state error and improve swing angle control. The results of simulation and actual experiments show that the steady-state error can be eliminated,and response time of system can be shortened, in addition, the disturbance rejection ability of system can be strengthened.