Design And Research On Anti Swing Control System Of Tower Crane

With the rapid development of modern industrial technology,tower cranes are widely used in industrial control,modern construction and other industries because of their small footprint and convenient installation and transportation.However,in the course of transportation,it is vulnerable to external interference and the limitation of operator’s work experience,causing problems such as inaccurate positioning of the trolley and load swing,resulting in low transportation efficiency and,in severe cases,safety accidents.Therefore,studying the anti-swing control technology of tower cranes is extremely important for improving transportation efficiency,reducing the work intensity of operators,and avoiding hidden dangers in the safe use of tower cranes.Usually the movement of the tower crane includes the luffing movement and slewing movement of the trolley and the lifting movement of the load.To simplify the control system complexity,this paper mainly studies the luffing motion of the tower crane to realize the positioning of the trolley and the anti-sway of the load.The main research contents are as follows:(1)The establishment of the model of the anti-sway system of the tower crane.First,the force of the anti-sway system of the tower crane is analyzed,and then the model is modeled according to the Lagrangian equation in analytical mechanics.In order to facilitate the analysis,the model was simplified,the dynamic equation of the tower crane anti-sway control system during luffing motion was obtained,and the characteristics of the system model were analyzed.It provides a theoretical basis for the follow-up verification of the effectiveness of the tower crane positioning and anti-sway controller.(2)Design and simulation analysis of PID and FSPID controllers.First of all,according to the mathematical model of the tower crane anti-sway system,an anti-sway PID controller is designed,and the simulation and experimental analysis are carried out by MATLAB software,in which the simulation results show that the control effect of PID control is not good.Considering the disadvantages of poor dynamic performance and poor robustness of the system during PID control,Using the advantages of fuzzy control technology that does not depend on the controlled object model,the FSPID controller of the tower crane anti-sway control system is designed.Through the simulation experiment of the FSPID controller,the simulation results show that the FSPID controller is significantly better than the PID controller in the trolley positioning and load swing angle of the tower crane anti-sway control system,and the FSPID controller does not change the control system parameters sensitive.(3)Design and simulation analysis of anti-swing control system of tower crane based on particle swarm optimization.Aiming at the shortcoming that both the quantization factor and the scale factor in the anti-sway FSPID controller of the tower crane need to be set manually,the PSO algorithm is introduced.The PSO-optimized FSPID controller is designed,and the parameters of the two FSPID controllers are optimized by PSO.Finally,the simulation experimental analysis of the optimized FSPID controller can be obtained through simulation analysis,and the optimized FSPID controller can accurately realize the vehicle positioning and suppress the swing of the load,and the system has good dynamic performance.