Compound Pendulum Of Active Vibration Control System Simulation,

In order to promote the loading/unloading efficiency of container crane, it is very important to decrease or avoid the swing of container and spreader. Presently, electric anti-swing and mechanical anti-swing are using on the most container cranes. Generally, mechanical anti-swing fitting weighting the trolley and usually its structure is also complex. So, along with the fast development of electricity and communication technique, electric anti-swing technique is more and more regarded. Now, a large number of container crane are using it. Also, from the point of these correlative disquisitions of the latest decade, electric anti-swing already turns into the primary study direction of container crane. Electric anti-swing is an active method. It does not rely on the experience of the operator, but take the control of both anti-swing and movement of the trolley into account, which makes the loading/unloading more efficient, and alleviates the operator's burden of work. It is a trend to make electric anti-swing into application in ports to realize the automation of loading/unloading.In conventional cybernetics, a precise mathematical model of some object is essential for automation. But, the process of loading/unloading with container crane is complicate and nonlinear. Also, there would be some affection of stochastic factors (e.g. wind) in ports. It is very difficult to build a precise mathematical model of the system. Or even some model is built, it would probably be impossible to solve because of the complication. That is, it is very difficult to control the anti-swing system by means of conventional cybernetics. Being different from conventional cybernetics, intelligent cybernetics needn't build the precise mathematical model. Especially, it suits the control of nonlinear and uncertain system. Therefore, it is a good scheme to apply intelligent cybernetics to the electric anti-swing of container crane.Based on the kinetic characteristic of container crane, the design principle and means of fuzzy controller for the anti-swing of containercrane are put forward. Generally, the input of controller adopts four variables as to the scheme considering the movement of trolley position, the velocity of trolley, the sway of load, and swing angle. This method does not take the change of lay into account, and then the model does not accord with the actual model. In this thesis, five variables are adopted for the input of controller. Furthermore, because of the subjectivity of the selection control rules and membership function in simple fuzzy control, this thesis put forward a design method of fuzzy neural network controller with clear space frame, good ability of self-study and nonlinear approach capacity using an improved fuzzy neural network model.With this intelligent control method, this thesis simulates the fuzzy intelligent control of container crane anti-swing on computer. According to the numeric solving of container crane dynamics model, the simulation software of fuzzy control and fuzzy neural network control is developed on the platform of MATLAB 6.5, based on the anti-swing of container crane. In a certain extent, a fuzzy intelligent control simulation interface of the anti-swing of container crane is realized. Elementarily proved, a preferable anti-swing effect is obtained with the fuzzy intelligent control methods introduced in this thesis.