Study Of Anti-swing Control System Of Mobile Crane

Mobile cranes (rotary cranes) are common used in many places . These cranes are usually operated manually. With the motion expected to be safer and faster, the anti-swing problem should be considered. The process of controlling will become dif-ficult without using automatic control methods in this condition. In general, the movement of cranes has no prescribed path. Cranes have to be run under different op-erating conditions,which makes closed-loop control attractive. In comparison to gantry cranes or overhead traveling cranes, till now only few automation concepts for rotary cranes are existing, because of the dominant nonlinear plant behavior and the problem of measuring the rope angle, the controlling for anti-swing will be difficultIn this work the question of tightwire swing in cargo moving in automobile cranes was been discussed,The cause of the question was been analyzed and a Co- Simulation tool was built.The mobile crane model was been built in ADAMS as the plant of the control system and been included into MATLAB/Simulink .On this ba-sis the effect of anti-swing contol method was tested. A Fuzzy logic control method was been adopted and the controller consists of two independent sub-controllers: ra-dial and rotational. Each of these controllers has two fuzzy inference engines (FIE) which are used for tracking the position and are used for damping the load oscillations respectively.The results of ADAMS/Simulink Co-Simulation show the efficiency of the pre-sented control concept. Anti-swing control system is an important condition for base for further automation steps. The experience which been adopted in this work will be significative for establish and verify other control methods.