Study On Anti-Swing Control System Of Large Industrial Crane

Cranes are widely used in industry for load transport. However, load would sway when the crane is moving, which would not only reduce the operating efficiency, but may lead to accidents. In order to improve the operation efficiency, the crane system must have a great ability of anti-swing. Now, there are two anti-swing methods, mechanical method and electric method. As an active method for avoiding swing, electric anti-swing method combines swing-decreasing with movement-control to improve the crane efficiency. Therefore, it will be used widely for load transport.Based on the Lagrange equation, the dynamic model is built for the crane system. The model completely describes the three-dimensional movement of the horizontal direction, vertical direction and fore-and-aft direction, and the load swing caused by the movement. And the linear model of the crane system is derived according to the linearization conditions.Based on the system model, two kinds of anti-swing control strategy are proposed. First of all, considering the expertise, this paper presents an anti-swing control method based on optimal control. This method realizes the synchronization control of accurate parking of crane and swing proof of load by controlling the moving time or distance. Secondly, an adaptive PID anti-swing method based on genetic algorithm is proposed. This method firstly obtains appropriate controller parameters in virtue of fast global optimization of genetic algorithm, then realizes the anti-swing control only by detecting the target distance. The two methods needn't real-time measure the swing angle or speed. Simulation results show the two methods are reasonable and easy for engineering realization, and have high anti-interference capability.