Development Of Anti-sway Control System For Hydraulic Crane

As a kind of common cargo handling equipments, the rotary type hydraulic craneshave been widely used in factories, wharfs, mines, ships, ports and other places. With the rapid development of economy and production, people require a higher level of the handling efficiency and safety production; but the working environment of the crane tends to be more severe, especially on board ships the swing of the crane hook will affect more seriously the crane loading and unloading efficiency and safe operation. Therefore, the research on the anti-swing control of the crane hook is of far-reaching significance.The research object of this paper is the hydraulic crane with 2 tons of 3m working radius in the Marine Engineering Institute’s hydraulic laboratory of Jimei University.Firstly, the in-plane angle and the out-of plane angle in the case of the hook swing are measured with high precision potentiometer;the hook angular measurement acquisition systemis built based on Agilent34980 A multifunctional data acquisition unit; and the hook swinging angles are gathered under the circumstance of the rotary operation, luffing operation and mixed operation of the crane;according to the acquisition results, the hook system is analyzed as the foundation of the subsequent control study. Secondly, the measurement devices for the crane arm rotation angle and luffing angle areestablished, and the hardware system of the measurement and control is established based on Evoc 880 series industrial PC,PCL-726 control card,PCI-16 MFT DAQ card and the corresponding terminal board; the control software is developed based on VB. Finally, through the model and the experiment, the control effects of the classical PID and the input shaping control techniques are studied respectively on the hook swing. The results show that:all kinds of angle measurement systems established can give the true angles in real time; the precisionscan meet the requirements of the control system; the hook anti-sway control system established can realize the control requirements of various kinds of control strategies; the hook sway can be suppressed by both the classic PID and input shaping control techniques obviously, and theeffect with the classic PID control is better.This research lays the theoretic and experimental foundations for the further optimized anti-sway control.