Research On Anti-swing Control Of Crane With Spherical Double Pendulum Effect

Crane is an underactuated mechanical system widely used in docks and factories.Its control goal is to transport goods and materials to their destination in a timely and safe manner,while at the same time being able to suppress the swing of the hook and load during transportation.However,due to the characteristics of the underactuated system,it is not possible to directly control the swing of the hook and load,and only the horizontal movement of the trolley and bridge can be controlled to affect the swing of the hook load,making it very difficult to achieve the anti-swing control goal of the crane system.Based on the sliding mode control and fuzzy control principles,this paper designs anti swing transportation control strategies suitable for underactuated bridge cranes.The main work as follows:Firstly,a physical model of a spherical double pendulum bridge crane is established in three-dimensional space using the Euler Lagrange modeling method.At the same time,the dynamic characteristics of the double pendulum system in different parameter ranges are analyzed based on the mathematical model of the double pendulum bridge crane.Secondly,aiming at the inherent chattering problem in traditional sliding mode control,a second-order super twisting sliding mode algorithm is designed to weaken the chattering,and a smoothing term is introduced into the second-order sliding mode algorithm to further suppress the system chattering.Using the dynamic model of the spherical double pendulum crane in Chapter 2,a smooth second-order sliding mode control algorithm is designed and a Lyapunov function is constructed to analyze the stability of the system.Finally,the control effect is verified using a Matlab simulation program.Thirdly,considering the unknown model of the crane system in actual production,a weighted fuzzy control algorithm is designed.The corresponding fuzzy control rules are formulated based on the different effects of a single input quantity on the corresponding output quantity of the system and the experience of eliminating swing in the actual transportation process.Compared to traditional fuzzy controllers,the weighted fuzzy control algorithm significantly reduces the number of fuzzy rules,while adding a corresponding dynamic weighting module for each state input quantity to ensure that the state variables can affect the size of the output quantity in real time.Finally,the control effect is verified using a Matlab simulation program.Finally,a virtual reality simulation model of a spherical double pendulum crane system is built using VR builder 2.0.The above control algorithms are introduced into the VR model to achieve a dynamic demonstration of the crane control system and visually demonstrate the control effect of the controller.