Research On Active Anti-sway Control Strategy And Algorithm Of Bridge Crane

The active anti-sway strategy of bridge cranes has gradually replaced the traditional antisway strategy due to its high degree of automation and good control effect.The significance of the active anti-sway control strategy is to speed up the working time of cranes,increase the loading and unloading speed of large factories,and most importantly,improve the safety of dangerous production operations,protect the lives of workers,and prevent unnecessary safety accidents.In this paper,ZVD input shaping method combined with fuzzy self-tuning PID parameter control method is designed to design a ZVD-FPID anti-sway controller with lower cost and better dynamic performance to carry out research on active anti-sway control of bridge cranes.The main tasks are as follows:1.Make a detailed analysis of the transportation process of the bridge crane system,establish a simplified constrained system model of the bridge crane structure,and establish the kinematic equations with each system variable as the generalized coordinate through the Lagrange equations in the analysis mechanics.Through ideal simplification analysis,the nonlinear kinematics equation is simplified to linear kinematics equation.The transfer function and state space equation of the system are solved by Laplace transform,and the evaluation of the model is completed according to the performance analysis.2.According to the characteristics of the system model and the requirements of anti-sway indexes,the residual swing of the system is suppressed during operation,and the ZVD and EI anti-sway controllers of the bridge crane are designed using the input shaping method.The simulation results show that the ZVD anti-sway control The performance of the device is better and the response time is shorter.3.In order to solve the problems of ZVD controller relying on model accuracy and weak dynamic performance,a fuzzy self-tuning PID controller is designed using fuzzy control reasoning logic to complete the precise alignment of bridge cranes and suppress residual swing.According to the characteristics of the crane system and the analysis of the anti-sway effect,using two-dimensional fuzzy structure controller;through a comparison experiment with the traditional PID control algorithm,the simulation results show that the fuzzy selftuning PID control algorithm can track the target position and suppress the swing angle residual There have been great improvements.4.Finally,combine the advantages of the above two algorithms to design the ZVD-FPID antisway control algorithm strategy,and conduct field experiments on the ZVD-FPID anti-sway control algorithm strategy under different conditions.The experimental results show that ZVD-FPID anti-sway control The algorithm strategy has good robustness and effectiveness.