Research On Intelligent Swing Suppression Control Strategy Of Bridge Crane

Bridge cranes are cross-framed over workshops,factories,warehouses and yards,to achieve three-dimensional material space transportation lifting equipment,but also the most widely used,the use of the largest number of a material handling equipment.During the handling of goods,when the actuator starts and brakes,due to the horizontal inertia of the small car laterally and the large car longitudinally,it is very easy to produce goods swing effect,and even lead to inaccurate spatial positioning of the machine.Crane in the process of intelligent development,both the requirements of the crane weight swing angle can be limited to the specified range,but also require the safety of the crane,efficient and stable operation,so you must choose a reasonable pendulum suppression positioning control method,so that the crane weight swing angle in the shortest distance gradually decay to a safe range.In this paper,for the bridge crane system swing problem,establish the bridge crane dynamics model,propose PID,FPID,SPSO+FPID control strategy,and use Simulink for open-loop,closed-loop control simulation.The optimal control strategy is derived by comparing and analyzing the simulation results,and the performance of the optimal control strategy is verified by simulation.The main research contents of this paper are:(1)The working principle of the bridge crane is analyzed,and the threedimensional dynamics model of the bridge crane is established by combining Lagrange’s equation.Furthermore,simplify and decouple the three-dimensional dynamic model of bridge crane,and a two-dimensional dynamic model of bridge crane is constructed.(2)For the pendulum suppression control objective of the bridge crane,the PID and fuzzy PID controllers are constructed to achieve closed-loop control of the two-dimensional model of the bridge crane,and the open-loop and closedloop dynamics nonlinear models are simulated and analyzed by using Simulink.(3)For the pendulum suppression and positioning requirements of the bridge crane,a control method of particle swarm algorithm optimized FPID with inertia weight sine adjustment(SPSO+FPID)is proposed to realize the control of the two-dimensional model of the bridge crane,simulate and verify the SPSO+FPID control performance by Simulink.(4)For the actual situation of the crane,build the simulation model of the three-dimensional pendulum suppression system of the bridge crane,design PID,FPID,SPSO+FPID controller,adjust the relevant parameters,and get the simulation curve of the three-dimensional bridge crane.Compare and analyze the positioning and swing suppression effect of the same control strategy and different control strategies,it can be concluded that PID,FPID,SPSO+FPID control strategies can meet the positioning and swing suppression requirements of the crane,with certain engineering practice guidance significance.Comparison of the simulation results of the three strategies can be seen,SPSO + FPID control method swing angle is small,small overshoot,stopping,positioning time is short,high control accuracy,basically can achieve the simultaneity of the trolley positioning and lifting weight suppression.In this paper,through the method of theoretical analysis,model establishment and simulation analysis,we realize the research on the suppression and positioning of two-dimensional and three-dimensional models of overhead cranes,and the research results can provide certain ideas for the development of intelligent suppression and positioning of overhead cranes in China,which has great theoretical significance and engineering value.