The3D Crane System Based On Particle Swarm Optimization Fuzzy Sliding Mode Control

3Dimensions Overhead Crane has many advantages such as simple structure, high load capacity, easy operation, small footprint and high delivery efficiency. It is widely used in construction sites, workshops, warehouses and ports. It is a typical under-actuated nonlinear system. The study of3D Crane helps promote the development of control theory for under-actuated systems and control method for general nonlinear systems.In order to achieve the positioning and anti-swing, the main work is as follows:1The model can be derived by the Lagrangian method and it is better than2D model; in the balance point linear the model,analyzes controllability and observability; prepare for simulation and physical experiment, respectively establish and linear the model of2D and1D.2Because PID controller is widely used, simple structure, robust, PSO algorithm is computationally efficient, easy to program, so combine them together, design a PSO-PID controller. The simulation prove that PSO-PID controller is better than PID controller, and make crane faster positioning and more stable anti-swing.3In order to be solve the positioning problem and anti-swing problem, combine Sliding Mode Control, Fuzzy Control, Variable Universe Adaptive Control and Particle Swarm Optimization together, design a new Adaptive Fuzzy Sliding Mode Controller Based on Particle Swarm Optimization, PSO-AFSMC. The simulation prove that swing angle is smaller and more stable, positioning is faster and more accurate, no overshoot. Under the same conditions, the performance of the controller is better than others.