Research On Swing Control Of The Portal Crane Based On Input Shaping Technology

Portal crane is a type of handling equipment widely used in port and wharf.With the development of port logistics equipment to automation,its anti-sway control has begun to be taken seriously.Because the portal crane belongs to the rotary crane,the rotary motion during the operation will cause the load to generate centrifugal force outwards,resulting in more difficult anti-sway control than the bridge crane.In this thesis,by building the swing dynamics model of the portal crane,the input shaping controllers for its typical motion conditions are designed based on the input shaping technology,and the numerical simulation and the virtual prototype simulation analysis of the swing control are carried out.The main research work is as follows:(1)Based on the analysis of the working mechanism of the portal crane,the simplified physical model of the hoisting swing system is established,then the differential equation of motion of the system is derived by using Lagrange analytical mechanics method.In addition,the influence of the rotary motion speed on the natural frequency of the system is analyzed.(2)Based on the basic principles of typical input shapers,typical input shapers for portal cranes under single luffing and single rotary motion conditions are designed,and an optimal combined input shaping scheme is proposed under the composite motion conditions considering the influence of the rotational speed.(3)A numerical simulation model of the portal crane hoisting swing system is established by using the MATLAB/Simulink module,and the swing control simulation of comparing different combinations of input shapers under different operating conditions is performed to obtain the optimal selection scheme of the input shaper.Through the parameter sensitivity analysis of the hoisting residual swing angle,it is shown that the residual swing angle is more sensitive to the change of the rotary angle than the change of the rope length,and it is insensitive to the change of luffing angle.(4)Taking the four-link portal crane as the object,a virtual prototype simulation model of portal crane is established by using ADAMS software.The kinematics analysis of the crane luffing system is carried out.In the virtual prototype simulation,the pitch angle speed of the arm is used instead of the speed of suspension point as the input of the system,and the virtual prototyping simulation under different working conditions with the combination of different shaping methods is performed.By contrasting the results of Simulink simulation,the consistency of the established model and the calculated model and the effectiveness of the swing control algorithm are verified.In addition,the virtual prototype simulation results show that the shape and size of the grab have a certain influence on the hoisting residual swing angle.