Research On Multi-axis Synchronous Control And Intelligent Anti Swing Technology Of Crane

Bridge crane is widely used in the port, railway station, warehouse, and many large construction projects,It plays a very important role in the logistics and transport.The main moving parts of the crane are:cart, trolley lifting structure.At present, the car translation mechanism mostly uses multi axis drive technology.The research of multi axis synchronous control is of great significance to the stable and safe operation of the crane.Anti swing technology can improve the efficiency of loading and unloading,and reduce the working intensity of the operator,and reduce the safety hidden trouble in the course of crane operation.So Anti swing technology has great research value.In this paper, several control theories are introduced in this paper. The fuzzy controller and self-tuning controller are designed in this paper.By setting up the mathematical model of permanent magnet synchronous machine, the working principle of the synchronous motor is studied.This paper presents the cross coupling control strategy based on virtual axis,it used a is fuzzy PID controller.The synchronization performance are researched by MATLAB simulation experiment.The practical effect of the method is proved by the analysis of the measured data.In this paper, a kind of intelligent anti sway control system is researched.It can eliminate the load swing phenomenon, and complete the accurate positioning at the same time.Firstly, the dynamic analysis of the suspension system is carried out, and the mathematical model is established by using the Lagrange equations.The MATLAB simulation model of the suspension system is established based on the equations.By using the simulation experiment, the factors which affect the swing of the crane swing are studied in detail.Finally, a closed loop control system of displacement compensation is designed,The control system used an Particle Swarm optimization PID controller.The control system is compared with few common anti swing control systems by MATLAB simulation experiment.The simulation results show that the system has good swing angle and good position tracking performance.At the same time, it also shows good applicability and robustness.