Study On Application Of Anti-swing And Positioning Control For Bridge Crane Trajectory Planning

Bridge crane,as a transportation machine,is widely used in various fields of national economic construction to complete the tasks of material transportation and integrated processing.Bridge crane system is a strong coupling and nonlinear underactuated system.The control effect of payload swing and trolley positioning directly determines the working efficiency of bridge crane.And the payload swing brings potential safety hazards to high-altitude transport workers.Anti-swing and positioning control of bridge crane is the key to achieve fast and accurate automatic control,and it has become a research hotspot in the field of robotic and automatic control.In this paper,a three-dimensional dynamic model of bridge crane is established by Lagrange dynamic principle,and the coupling relationship between model parameters is analyzed.The model is transformed into a two-dimensional model of bridge crane.The differences between models are compared and analyzed,and a reasonable model is selected for reference and application of control algorithm.The three-stage acceleration trajectory based on phase plane analysis method has too much impact and is prone to jitter and slip during acceleration switching.The acceleration smooth transition trajectory is designed.On the basis of three-stage acceleration trajectory,the acceleration smoothing transition curve is added,the performance indexes are limited,and the smoothing transition trajectory equation is obtained by the phase plane analysis method.Through simulation comparison,the impact of acceleration switching is reduced,the payload swing angle is restrained and the residual payload swing is eliminated when the bridge crane reaches the specified position.To avoid the cumbersome offline planning.The scalar function based on angle generates online trajectory,which results are in slow positioning response and large swing amplitude.The online planning trajectory is designed.The trajectory is based on the smooth positioning trajectory,and the anti-swing link without affecting the positioning is introduced.The anti-swing trajectory is constructed without off-line iterative optimization.The online planning trajectory of bridge crane is achieved.The bridge crane control performances of accurate positioning and payload anti-swing are improved.Through simulation comparison,this method can effectively improve response speed,ensure smoothness and complete positioning and anti-swing control.The traditional energy function control based on trolley displacement cannot effectively eliminate the residual payload swing.In order to overcome the poor robustness of the open-loop control.The payload energy coupling is designed.The coupling function based on payload displacement and swing angle is constructed by analyzing the system energy of bridge crane.By means of Lyapunov method,the control law is obtained and the positioning and anti-swing control is achieved.The simulation results show that the method can effectively eliminate the residual swing and realize the positioning of the trolley.The control methods are verified by the three-dimensional bridge crane experimental platform.The results show that the above methods can effectively restrain the payload swing,achieve the accurate positioning of the trolley,show good actual control effect,and provide a reference for the practical application of the project.