A Design Of Crane Anti-Sway Controller

Crane is one of the frequently used carrying equipment. Its mass use is in the architecture, manufacturing and port transportation. To suppress the load sway is of great benefit to enhance the working efficiency. And it is very important to the progress of our country's lifting appliances.Crane's horizontal motion is the main reason to rise the load sway. The existence of load sway suppressed the crab's horizontal motion speed, prolonged the crane assistant operation time, reduced the load halting precision, resulted in a large periodical load to the crane, thence the crane work efficiency is lowed. It is more distinctly in the application of good-sized and medium-sized high-speeded cranes. It is urgency to design load sway characteristics, construct the three-dimensional sway model of crane horizontal motion, research crane anti-sway arithmetic, execute the analyse and synthesis of crane model, put forward an optimal anti-sway arithmetic and design an anti-sway crane controller based on the above theories. The crane controller combine the anti-sway with crab horizontal motion and it is independent of crane driver's operational experience. The controller can make the load halted rapidly and accurately which enhanced the crane's work efficiency and automation degree.For this kind of motions is determinate, it is feasible to be worked out uniquely in advance and design an optimal controller to suppress the load sway according to the quadratic optimal law. We proposed arithmetic to suppress the load sway. The method is open-looped, it have no use for angle and angle-acceleration transducer, which reduced the cost of the anti-sway control system and promoted system's dependability. Such method can but suppress the load sway generated by determinate disturbance, and is of no effect on random disturbance. The method is very simple and convenient but with great practicality for in engineering the crane load sway is mainly generated by horizontal motions.