Design Of Anti-swing Control System For Port Hoisting Process Based On PCC

Hoisting swing is a common problem in port hoisting operation.Swing problem will not only affect the work efficiency of hoisting operation,but also increase the safety hazard during hoisting.The main content of this topic is that the design of anti roll controller can control the movement process of the car in the process of hoisting operation,and restrain the production of the lifting swing.On the basis of the analysis of the port hoisting process,this paper sums up the main causes that lead to the swing of the lifting weight,and puts forward two different anti roll control strategies of open ring and closed loop anti roll.The port hoisting process is simplified,and the Lagrange equation is used to obtain the dynamic model of the trolley hoisting system,and the transfer function and state equation of the system are derived.The double closed loop PID anti roll controller with inner loop controlling the pendulum angle and the outer loop control the position of the small car is designed to realize double control of the hoisting angle and the position of the trolley.A fuzzy controller is introduced to correct the proportional coefficient,integral coefficient and differential coefficient of the PID controller of the inner loop,so as to improve the control accuracy of the closed loop anti swing control system.The five degree polynomial is used to plan the swing angle of hoisting weight in advance,and a feedforward anti swing controller based on trajectory planning is designed.The S function is written in Simulink,and the simulation results are compared and analyzed.The development of anti roll control software is completed in Automation Studio software.Design the servo motor driver and IMA communication program,Using Automation Studio Target for Simulink to convert the anti-shake controller simulation model designed in Simulink into C code that can be compiled and run in AS.In the visual interface design module of AS software,the human-computer interactive interface,which is simple and convenient for practical application,is designed.The anti roll test platform is constructed by using the PCC X20CP1382 and the touch screen 4PP481.1043-75.The anti roll control system is tested on the test platform,and the control effect evaluation program is written to evaluate and analyze the anti roll effect.The actual test shows that the designed anti roll controller can control the maximum pendulum angle of the lifting weight of the trolley within 8°,and can ensure the steady error of the parking position of the car within 1%.