Research Of The Anti-swinging Control And Obstacle Avoidance Trajectory Planning Method For Quayside Crane

As a heavy construction machinery,quayside crane is widely applied in port,logistics,manufacturing and other industries.The traditional manual control method is inefficient and unsafe.With the continuous improvement of automation,the anti-swing function of quayside crane also has higher requirements.The automatic control of swing suppression for quayside crane is one of the hotspots of current research.It belongs to the classic underactuated nonlinear strong coupling system.It is necessary to design a complete control scheme for automatic quayside crane.This thesis discusses the anti-swinging and obstacle avoidance method for the quayside crane.The actual control effect is the main point which we concerning most.The goal is to provide a solution which is easy to application.Firstly,the dynamic model of the quayside crane system is established by Lagrange method.A speed planning method which using quintic polynomial curve to describe swing angle,is presented by restricting the initial and termination state of the crane system.An evaluation function J is constructed in order to balance the speed of operation and the amplitude of the swing angle in the process of motion.The optimization tendency of the evaluation function is adjusted by changing the value of q.A virtual prototype is built in ADAMS and then establish a Matlab-Simulink-ADAMS co-simulation platform.The simulation result of the feedforward control method is nice.This thesis proposed an intelligent optimization algorithm to optimize the B curve trajectory by using evaluation function under certain condition to avoid obstacles in Qt C++.The trajectory planning calculation can be completed within 220 milliseconds.Both hardware and software of the weight angle detection device is developed by wiring board,welding PCB and programing embedded program.A scaling model platform of the anti-swing test,based on B&R PCC,is established to validate the control algorithm and detection device.The data of the tests are obtained and analyzed.The control algorithm is verified.We seek the truth from fact by analyzing the theory,proposing and simulating algorithm,improving controller,developing software and hardware,and testing.The feasibility and effectiveness of the control algorithm are verified.This paper proposes a simple and easy solution to anti-swing and avoid obstacles for quayside crane,which provides a good reference to better control the quayside crane.