Research On Anti-swing Control Of Overhead Traveling Crane Based On Servo Compensation And LQR

The bridge crane is an overhead type crane with the bridge ends supported directly on the elevated track by the running device.The system is mainly composed of a cart,a trolley,a sliding track,a lifting weight and a driver operating room.The bridge crane has the characteristics of simple structure,flexible operation,convenient maintenance,large load weight and no occupation of the area of the ground.It can complete all kinds of lifting work within the orbit through the vertical and horizontal synthesis movement.However,it is difficult to accurately control the operation position of the bridge crane and the swing angle of the crane.In recent years,more and more control algorithms have been proposed,but the accuracy,rapidity,stability arnd robustness cannot meet the actual demands.In this thesis,a new control algorithm is designed for the swing angle and position control problems of overhead cranes.The main results and contributions of this paper are as follows:Firstly,the background and significance of the research on the anti-swing of overhead traveling crane,the development history and research status at home and abroad,as well as the development of related control theory are summarized.And some basic concepts,important theorems and solution tools used in the study are summarized and refined,which provide the basis for the design of the controller.Secondly,combining the structure characteristics and working principle of bridge crane,analyzed its dynamics,the dynamics model,and to linearize the nonlinear model near the equilibrium point,and concludes its state space expression.Finally,we give the kinetic analysis and the dynamics model is obtained combining the structure characteristics and working principle of the bridge crane.Then we linearize the nonlinear model near the equilibrium point and the state space expression is concluded.Then,the design method of the 1-q-r dynamic output feedback controller which is based on the servo compensation is studied.The overall scheme and the block diagram of the control system are introduced;A servo compensator is introduced to realize the regulation without difference for different reference input and the disturbance and the pole assignment method of dynamic output feedback control law is deduced and obtained;The structural form of the dynamic compensator is obtained under the linear quadratic performance index,and the solving method of the controller parameters is given by using the linear matrix inequality.Finally,a simulation example is given to verify the feasibility and the effectiveness of the results.We test the control performance of the position of the car and the swing angle of the lifting weight.Besides,the anti-interference ability and the robustness of the system are tested and the control quantity is optimized.The simulation results show that the control system has good performance in all aspects,and the expected goal is achieved.The control system sets the advantages of the servo compensator,dynamic output feedback and linear two regulation of several control theories together and achieve the following goals:Firstly,non-difference control for different external signals;Secondly,fast and stable response to control instructions;Finally,certain robustness.