Research On Anti-swing Control Algorithm For Bridge Crane

As a kind of material handling equipment,there is lots of advantages for bridge crane,such as having a simple structure,less space occupation,large working space and high work efficiency.It is widely used in workshops,warehouses,docks and other industries and logistics.With the improvement of the automation of industry and logistics,the requirements for work efficiency and safety are getting higher and higher.Bridge crane adopts the rope hanging goods,and along with the frequent start and stop and acceleration deceleration during the lifting process,the goods will inevitably swing.If can not quickly eliminate the swing,the light will affect the lifting efficiency,the weight will bring greater security risks.Therefore,anti-swaying crane control has been an increasingly widespread concern.Based on the anti-swaying control of bridge crane,this paper analyzes the research status and development trend of anti-sway technology at home and abroad.Firstly,the dynamic model of overhead traveling crane is established based on Lagrange's dynamic equations.According to the system state-space equation and Lyapunov stability theorem,the system's observability,controllability and stability are analyzed.After comparatively analyzing the advantages and disadvantages of the kinematic control and the kinematic control,this paper chooses the crane anti-swaying control from the kinematic control and starts from the open-loop control and the closed-loop control separately.On the open loop,based on the equal periodic oscillation of the system under constant acceleration,the anti-sway control scheme based on the wobble cycle is proposed for the first time,and the periodic control scheme is further improved with the practical application needs.On the closed loop,the idea of damping vibration is firstly combined with fuzzy control,and a fuzzy anti-swing control scheme with speed and position tracking capability and strong robustness and anti-disturbance is proposed.Based on crane fuzzy anti-swaying control,fast tracking of speed and position can be achieved and the final precise positioning can be realized.Finally,an experimental platform is seted up to test the proposed open / closed loop anti-swing control algorithm.The results show that the proposed open-loop periodic control scheme has significant anti-swaying effect,which is convenient for the motion planning of the hoisting process and especially suitable for the anti-swaying control of the fixed-stroke high speed hoisting.The proposed anti-swaying closed-loop fuzzy control scheme has good Robustness and anti-disturbance ability.The system can achieve double-tracking and end-point accurate positioning of cranes' speed and position on the basis of anti-swaying.It is suitable for the anti-swaying control of manual operation of a wider lifting process.