Research And Simulation Gantry Crane Intelligent Anti-shake System

Crane is a kind of major transportation equipment in industry which hasbeen widely used in various fields. It is by the nature ofCrane-Wirerope-Payload dynamic system that the payload would swing in themovement of the crane. Study of anti-sway control of crane payload is of greatimportance for increasing operation efficiency and accuracy of crane, and alsodecreasing potential safety hazard.This paper discussed the electronic anti-sway control system which diminishesthe payload swing while following objective velocity of the crane. Firstly, thedynamic of crane system is being analyzed, and the mathematical model isbuilt based on Langrage Method and then it is simplified to meet the need ofcontrol system. Then, a united control system is developed, which combinedfeedforward control, feedback control and estimation of state variable andsystem parameter into it, based on the crane model and taken other factors inreal operation environment into consideration. In the feedforward part, theOptimal Control Theory is adopted to obtain the optimal state trajectory andcontrol trajectory, which minimize the swing angle while reach certain velocityin certain time, by construct proper objective function and variation equations.In the feedback control part, a full state feedback control based on poledisplacement method is proposed. Then, to enhance robustness and stabilizespeed, a sliding mode control is developed for the anti-sway control. As thenoise in detected signal and uncertainty of system parameter can greatlydegenerate system’s control ability, a kalman filter is adopted to estimate thesystem state and an error backforward propagate scheme for system estimationis developed based on a parameter linear regression model of the crane system.Crane-payload system is a complex nonlinear dynamic system. To testify thecontrol system, a co-simulation is carried out which using RecurDyn to builddynamic simulation model and using Simulink to build control simulationmodel. In the dynamic simulation model, the effect of main beam vibration and Wirerope elasticity and resistance is been taken into consideration. Theresult of Co-simulation shows that the control system can satisfy controlobjective. This paper also carried out an experiment to verify simulation result.