Design And Research Of Intelligent Assist Crane System

With the rapid development of science and technology,traditional handling equipment can not meet the requirements of modernization.Intelligent boosters are urgently needed to improve production efficiency and reduce labor intensity of workers.Aiming at the problems of poor man-machine cooperation and material redundancy swing when handling materials by crane in factories,and this paper designs the mechanical structure of booster crane and researches its control system on the basis of relevant research.The current research status of intelligent assist device(IAD)is introduced,and the problems of poor human-machine interaction,complex structure and high installation accuracy of sensor detection devices at home and abroad are analyzed.A design scheme of booster crane with no operating handle,simple structure of sensor detection device and stronger human-computer interaction is determined.The paper designs the mechanical structure of booster crane,establishes the mathematical model,builds the virtual prototype model with ADAMS,and studies the material swing problem in the material handling process of the hoisting system.Through the kinematics and dynamics simulation of booster crane system,the anti-swing control method of heavy objects is determined by analyzing the simulation results.The booster crane control system is designed.The electronic control system is built with STM32 MCU as the core control unit and improved sensor detection device.The control system can predict the operator’s operation intention by detecting the direction and the change signals of the sensors.The control system is simulated with the help of Matlab/Simulink.The simulation results of two control algorithms,PID and adaptive fuzzy PID,are compared and analyzed,and the anti-swing control strategy of PID is determined.The anti-swing control model is established by using Matlab/Simulink,and the anti-swing control is simulated and analyzed by ADAMS software.The simulation result shows that the anti-swing method combined with the PID control strategy can reduce the sway angle of heavy objects.The parameters of the booster crane control system are determined through many experiments,realizing the functions of material handling and positioning of the prototype,which provides a reference for IAD technology to be introduced to the market in the future.