Research For Anti-swing Control Of Overhead Crane Payload System

Crane is an indispensable equipment in modern industry,and it is widely used in various occasions and fields such as ports,workshops,warehouses and so on.During the operation of the overhead crane,the payload will swing due to its own motion inertia and the influence of other environmental loads,making it more difficult to work,which reduces work efficiency,and increases safety hazards.Therefore,it is very valuable for engineering practice to control and eliminate the swing of the payload.In this thesis,the overhead crane is taken as the research object,and the anti-swing control of the overhead crane payload system is studied.The main research contents are as follows:(1)Dynamic modeling of the overhead crane payload system.The overhead crane model is simplified,and the Lagrange equation is used to establish the non-linear dynamic models of the single pendulum,double pendulum and ball pendulum payload systems of the overhead crane.(2)The dynamic analysis of the overhead crane payload system.Single pendulum system and double pendulum system are taken as the research objects,and the nonlinear system is linearized with a small angle assumption;Matlab/Simulink is used to simulate and analyze the payload swing under different working conditions without control;according to different system factors,the swing regulation of the payload is obtained to verify the accuracy of the model.(3)Anti-swing controller design for overhead crane single pendulum payload system.The single pendulum payload system is taken as the research object;the state space equation of the system is obtained based on its linearized dynamic equation,and the controllability and observability are analyzed;state feedback control based pole configuration and linear quadratic optimal control are used respectively to design the anti-swing controller,and the pole configuration method is used to design the state observer;the whole control system is simulated and analyzed using Matlab/Simulink to verify the effectiveness of the designed controller.(4)Anti-swing controller design of overhead crane double pendulum payload system.The double-pendulum payload system is taken as the research object.Based on its nonlinear dynamic equations,the backstepping method is used to designed the anti-swing controller;the stability of the system is analyzed using the Lyapunov stability theory,and the whole control system is simulated and analyzed using Matlab/Simulink to verify the effectiveness of the designed controller.(5)The construction and experiment of the anti-swing control experiment platform.Solidworks is used to design the mechanical structure of the experimental platform,which is then processed and built;the hardware equipment are selected and connected in order to meet the requirements for experiments;Lab VIEW is used to design the anti-swing control program;the anti-swing control experiments are carried out based on the designed and constructed experimental platform to verify effectiveness of the whole system.