Study Of Precise Positioning And Antiswing For The Varying Rope Length In 3D Crane Base On Decouping And Fuzzy Control

The problem of load Swing is inevitable in real fast motion in the Crane cable car system.Crane cable car system is linked with it's load by rope,However, with the proceeding of loadmoving acted by crane system, it will preduce round-trip swing due to due to the car or cartspeeds up or slows down. In the crane sysytem,there is a weakly damped system whichcomposited by rope-grab-load,so,it will take along time to reduce the load swing.In reality, load generally require accuracy positioning, so the load swing is usually operatedby an experienced teacher appropriate slow crane system's running speed or wait until loadswing attenuation to certain degree.This not only conducive to the improvement of productivity,but cause accidents for teacher's carelessness sometimes.In order to realize the purpose of to improve the security of the system, cranes workingefficiency and achieve easily. It is need to design the reasonable control strategy to complete itsautomatic operation. the paper is supported by tianjin crane equipment Co., LTD,and studied inthe crane system driving characteristics which is incentive insufficient owe the and non-linearvariable cord length.In the process of builing coordinate system to the variable rope length cable 3d cranesystem of a bridge crane,goal variable is selceted as the variable of the coordinate system,that ischoosing the grabbing buckets of crane system as the variable of the coordinate system. Basedon Lagrange equations, a dynamic model is derived,which the variable of model is not onlylinked with the variable of control,but the changing of grabbing buckets'place caused by cranesystem is considered. Based on the strong mathematica ability of matlab,traditional method tobulit Dynamic modeling of a system is replaced,which not only shortened the time of builttingbut improved the accuracy of the system.