Research On Anti-swing Of Bridge Crane Considering The Multiple Of Pulley Block

Bridge crane is used in many scenarios in today’s rapid industrial development in the port container lifting,plant warehouse material handling and so on.The lifting mechanism exists wire rope,it is a flexible member,because his presence causes the cargo to swing,other reasons as well as motor start and stop.The swing is a negative gain that affects part life,reduces work efficiency,and reduces accuracy.Therefore,the intelligent crane is accomplished,increase the speed of lifting operation and prolong the life of each component,which is inseparable from the elimination of swing,which is of great significance.Firstly,the equations of the crane in three-dimensional space and twodimensional plane are calculated,and the method of Lagrange equation and Laplace transform is used in the calculation process,and then the state and space function equations of the system are calculated.Secondly,according to the mathematical equation of crane model,the PID control system and FPID control model of bridge crane are established.Consider the factor of the angle of the heavy object,the results are compared with the opening and changing system of the crane,as well as the change of the length of wire rope of pulley block and lifting weight.The results show that the fuzzy proportional integral differential control system has a better control effect.The robustness of the system is strong.It is concluded that the influence of the change of pendulum length and the increase of pendulum Angle and the change of lifting weight can be ignored.The32 t bridge crane is taken as the research object,according to the relevant parameters,ADAMS software was used to build the model,respectively to establish a virtual prototype model of the bridge crane pulley block multiplier is three,four,five times,using Cable module to establish the steel rope pulley block model with different magnifications.Change the operating conditions and speed to study the impact on cargo swing.Finally,by using the co-simulation method,the model and control model of pulley block of bridge crane whose multiplier is three multiplier,four multiplier and five multiplier are fused,and the cosimulation control system of bridge crane is established.The influence of different power blocks on the response speed of the co-simulation control system is explored.At the same time,when the lifting weight and the driving speed changes,what will happen to the control effect.Conclusion is that the higher the multiplier of the rope pulley group,the better the control effect.The effect of the change of lifting weight on the response speed of the control system can be ignored.