Based On The Mechanical Model Gantry Crane Control System Shimmy

Automatic anti-sway of the crane as the global economy has becomeparticularly important, However, the majority of the anti-sway analysis ofthe mathematical theory, only a few examples of practical applications.The majority of crane or rely on the traditional mechanical shimmy, or theexperience of operation of the operator to reduce the start-up and brakingof the swing angle of the process. Shimmy technology lag makes thesecurity risks are numerous in the field work, while reducing the workefficiency, and even operation the driver is tired. Therefore, to achieve thecrane automatically shimmy is the urgent need for the actual productionprocess.Gantry crane, for example, to shimmy technology in the establishmentof mechanical model based on three methods: PID control, fuzzy control,fuzzy PID control system design and SIMULINK simulation, and comparethe control effect. PID controller has changed the traditional driving forcecontrol by changing the power frequency to control the speed of the trolleyshimmy. Fuzzy controller by setting the target displacement, respectively,in the initial swing angle, initial swing angle of the case simulation study,and obtained interference immunity is better than PID controller. The finalfuzzy PID controller by controlling the comparison of the results obtainedfuzzy PID controller combines the advantages of the two controllers before,making the system fast response and strong robustness and so on.