Mechanical And Anti-sway Control Study On Gantry Crane

Gantry crane is an important and representative orbit crane with a rotary type.It widely used import,dock,ship shipyard for mechanical loading and unloading.It is indispensable in lifting equipment on mechanical engineering and large hydropower station.At present,portal crane has a situation of large volume,large weight,running complicated,and there are many difficulties in reality for portal crane’s optimization.At present,there are many difficulties in reality for portal crane’s structural optimization for the reason that the crane’s bulk and mass is huge and its working situation is complex.Meanwhile,it spends more and more time on eliminating the load swing and positioning the load exactly when the crane is working at a high speed,all of those may bring hidden trouble in safety production.So it is necessary for the research to set up the virtual model of the gantry crane.In this paper the finite element model of the key structures of the crane is set up by using software ANSYS.In order to ensure the crane working in safety,the mechanical research for the key structures is studied in two working conditions.In this paper,a complete gantry crane dynamic model is built with Virtual Prototyping Technology,the simulation of the crane’s translation movement rotation is finished;the anti-shake control model of the gantry crane is built based on Simulink.At the same time,the connection of Simulink and Adams is established,and the joint simulation of the dynamic model and anti-shake control model of gantry crane is realized.The virtual prototype exports the position parameter passing the dynamic simulation,and as the input transmitted to the anti-shake control model in real time.Using the anti-sway feedback algorithm calculate the required motor speed,and then back to the virtual prototype,finally realize portal crane anti-sway control.