Design And Research Of Anti-Swing Control System For Bridge Crane

With the progress of science and technology,the improvement of automation and the expansion of production scale,bridge crane plays a more and more important role in modern production process.Eliminating or restraining the swing of the crane is of great significance to improve the working efficiency,safety and reduce the working intensity of the operators.It is also the general trend of realizing the automation of loading and unloading.The aim of this paper is to achieve precise positioning of crane and synchronous restraint of swing of bridge crane.Previous research mostly regarded the bridge structure as rigid,and neglected the influence of the elastic deformation of the bridge on the crane positioning and swing when establishing the anti-rolling dynamic model of the crane.This simplified method will have a certain impact on the control results.In order to get more accurate anti-rolling dynamic model of crane and describe more accurately the movement law of crane’s weight swing,this paper regards the main girder of bridge crane as an elastic structure,considers the transverse deformation of crane’s main girder,and establishes a three-mass three-degree-of-freedom dynamic model of bridge crane.At the same time,the simulation analysis is carried out in MATLAB/SIMULINK.Compared with the simulation results of the two-mass two-degree-of-freedom dynamic model of the conventional bridge crane,the correctness and superiority of the three-mass three-degree-of-freedom dynamic model are proved.The position of the crane and the swing angle of the crane are controlled by the PID controller respectively.Because the anti-rolling control model of the crane is complex,the traditional parameter tuning method can not achieve the desired effect,so the parameters of the PID controller are tuned by the optimization algorithm.Considering the advantages and disadvantages of particle swarm optimization and simulated annealing algorithm,a SA-PSO hybrid algorithm is designed to optimize the three parameters of PID.The simulation results show that the optimized PID controller can achieve better control effect for the fixed parameter system.Finally,aiming at the problem of poor adaptive ability of conventional PID controller,based on the theory of fuzzy control,a fuzzy adaptive PID controller is designed by combining the technology of PID control and fuzzy control.By changing the input parameters such as rope length,weight and target displacement,comparing the control effect of PID controller and FPID controller,it is found that the anti-rolling system controlled by FPID controller has short time to reach equilibrium state,high efficiency,little influence by external disturbance,good robustness and is an ideal control method.