Study On Kinematics Modeling And Anti-Swing Control Algorithm Of Portal Crane

Portal crane is one of the important large ports used for assembling and unloading machinery that must be implemented under high speed rotation rapid anti-swing in order to improve the work efficiency.It is a difficult research on the entity of the portal crane because of the complicated structure at.In this paper,the first is establishment and analysis model,then design control algorithm for simulation,and finally through experimental verification to achieve automatic anti-swing control automatic.In this paper,the anti-swing control system was designed to effectively control the swing tangent angle under the rotating motion by analyzing the causes of crane slanting deflection angle.First,by analyzing the structure of the portal crane,it was established dynamic equation based on Lagrange equation and designed Simulink model.Utilize software of ADAMS and SolidWorks to establish virtual prototype based on the portal crane.A comparison of two models of swing angle at the same rotation angular velocity demonstrated the correctness of the models.Then in view of the swing angle at different stages of the situation in the work cycle stops and the working period respectively puts forward the chase hook control and fuzzy control.Chase hook control is the swing angle for feedback to the angular velocity,so that the rotating mechanism toward the direction of reducing swing angle in order to achieve anti-swing.The fuzzy control includes fuzzy control position and fuzzy control angle,controls the target position and swing angle.Simulink model was established for each control method.Finally,the anti-swing control verification experiment is designed on the portal crane,and this paper design a set of inclination measurement system.The research result in this paper show that combined with fuzzy control and chase hook control algorithm reduce the anti-swing time and improve work efficiency.