Bridge Crane Anti-sway Control Study

The anti-swing control of overhead crane is studied in this dissertation. It illustrates the background and significance of this topic on the basis of analyzing different kinds of domestic and international anti-swing control of crane. Several new schemes of anti-swing control are proposed according to the lack of existing control programs.First, it shows a method of anti-swing control based on terminal sliding mode control. Nonlinear function is introduced into the design of the sliding hyper plane to make the tracking error coverage to zero in finite time in the sliding surface. The responsiveness of the controller is improved, and meanwhile, the load wing faster is eliminated through the method.Second, a method of anti-swing control of three-dimensional crane based on GA is discussed. The 3-D crane model is consisted by five linear ordinary differential equations. And the controller based on sliding mode is designed to control the load position and swing angle under the condition of changing the rope length. Besides, the parameters are optimized and the system chattering is reduced using GA.Third, a method of anti-swing control based on sliding-predictive control is studied in this paper. In view of the less demanding of predictive control on model accuracy, predictive control is introduced into the sliding mode variable structure. It optimizes the trajectory of sliding movement using rolling optimization and feedback correction in order to achieve the purpose of reducing vibration and enhancing the robustness. And it reduces the comply load positioning and anti-swing of the overhead crane according to this method.Three control schemes above have been studied by simulation, and the results reveal feasibility and effectiveness of three methods.