Research On Control Method Of Anti-swaying Of Bridge Crane

With the continuous expansion of production and construction scale and the continuous improvement of automation,hoisting machinery as material handling is more and more widely used in the process of modern production and construction.Because the wire rope is flexible,when the bridge crane is running,the materiel will produce the similar pendulum sloshing,which affects the safety and stability of the crane.At present,most of the crane anti-sway operations rely only on the experience of crane operators,which has been unable to meet the development needs of today's cranes.The automatic anti-swing technology of bridge crane has a great market demand,which is of great practical significance to improve work efficiency and reduce hidden dangers.The main research work has the following contents:(1)This paper studies the anti-sway method of bridge crane from the two directions of electrical control and mechanical control.In terms of electrical control,the Lagrange equation is used to establish the dynamic equation of the crane hoisting system.The PID controller and fuzzy PID controller are designed combined with PID control theory and fuzzy control theory;(2)The simulation of these two controllers was carried out by MATLAB,and it was found that both the PID controller and the fuzzy PID controller can achieve better control effects.By comparing the control patterns simulated by the two controllers,it is further found that the fuzzy PID controller has better feasibility and stronger robustness than the PID controller.Fuzzy PID control is more suitable for the research of anti-swaying of bridge cranes.(3)In terms of mechanical control,the anti-rolling device of the telescopic cylinder and the rigid anti-shake device of the guiding column are designed by using the principle of rigid anti-shake of the bridge crane's own structure.After application,it is found that the mechanical anti-shake device can achieve the purpose of anti-shake of the bridge crane,especially for the anti-shake effect of the bridge crane with slow running speed and low lifting height.However,the anti-rolling effect of the bridge crane with fast running speed and high lifting height is not obvious.Therefore,the mechanical anti-shake device can be applied to the anti-shake field of bridge crane under certain conditions.The electrical control and mechanical control studied in this paper can play an important role in anti-swaying of the bridge crane,which helps to improve the working efficiency and time cost of the bridge crane,and promotes the development of the bridge crane towards automation and intelligence.