Research On Control Strategy Of Bridge Crane Positioning And Anti-sway

As an important modern engineering transportation machinery,bridge crane is widely used in various fields of modern production and life construction.The classical nonlinear under-actuated system,represented by the bridge crane system,because its control dimension is less than the dimension of the degree of freedom of the system to be controlled,and it is easy to be interfered by external factors during operation,so it will be very difficult to control;In the actual production operation,the bridge crane system basically depends on manual operation,which results in the bridge crane system prone to low operating efficiency and poor anti-swing performance,low safety factor and many other issues.At present,with the rapid development of automatic control technology,intelligent control of robots has become a hotspot of scientific research in the new century.The problem of positioning and anti-sway control of bridge cranes has once again attracted the attention of many scholars.In this paper,based on the Lagrange dynamics principle,by analyzing the working principle of the bridge crane,a three-dimensional bridge crane dynamics model is constructed,and further simplified and decoupled to complete the construction of the two-dimensional bridge crane dynamics model.According to the two bridge crane models,two different positioning and anti-sway control strategies were designed.Based on the three-dimensional bridge crane model,a control strategy based on load energy coupling is designed to solve the problem that the traditional energy control can not eliminate the residual swing of the load well.This method firstly judges passively the three-dimensional bridge crane system and analyzes the system energy,then constructs a new energy coupling function based on load displacement and swing angle.Finally,the Lyapunov analysis method is used to design the three-dimensional bridge based on load energy coupling.And the stability of the system is verified by the La Salle invariance principle.Analysis of the simulation experiment results shows that this method can achieve accurate positioning of the trolley and can effectively suppress load swing.Based on the two-dimensional bridge crane model,in order to effectively deal with unmodeled dynamics and interference,weakening the chattering phenomenon in sliding mode control,A fuzzy sliding mode control strategy is designed.Based on the traditional sliding mode control,fuzzy control rules are used to adjust the size of the control variable u,and the sliding mode function is used to replace the tracking error signal,so as to reduce the dependence of the control method on the system model and make the control system have better robustness to the change of parameters and external disturbance.Through simulation comparison experiments,it can be known that this method can effectively weaken the degree of load chattering,have a better control effect on load swing,and can quickly and accurately complete the positioning of the trolley.Finally,for the above two bridge crane positioning and anti-sway control strategies,the bridge crane experimental equipment is used for verification.The experimental results and analysis show that the two control strategies designed in this paper have a certain control effect on the positioning and anti-sway control of the bridge crane,which can effectively eliminate the residual swing of the load,realize the precise positioning function of the trolley,and have a better swing amplitude of the load suppression effect.