Research On Overhead Crane Anti-Swing System Based On PLC Control

With the rapid development of national mechanization,the domestic logistics port,metallurgical industry,mining industry and the rapid rise of manufacturing,for the application of overhead cranes more and more.In industrial production,the material handling relies on mutual collaboration between staff and cranes,usually in the handling process,due to mechanical structure,wind resistance and load movement inertia and other factors,resulting in load swing,this time to wait for the load swing to become small with manual stop in order to release the material,which not only leads to a decline in handling efficiency,shortening the life of mechanical parts,but also may lead to material fall off due to swing,to the scene Staff bring great safety hazards.Therefore,the study of the swing of overhead cranes is of great importance to improve the efficiency of overhead crane transport,increase the life of the parts and avoid accidents.The transport of overhead cranes requires close collaboration between the large car,the small car and the lifting mechanism.This paper focuses on the movement of the trolley and load and designs an algorithm-optimised anti-swing controller with an anti-swing function.The system is controlled by a PLC as the core of the crane.The paper’s main research work is as below.(1)Establish a model for the dynamics of the bridge crane against pendulum.In order to facilitate the analysis,the large car and the small car are decoupled,the large car is considered as a stationary state,and only the small car is considered to run along the X-axis when the overhead crane is moving in the XOY plane,and a sketch of the “carload” dynamics model is established.The stability,controllability and observability of the model are analysed by MATLAB.(2)Designing a fuzzy PID controller for particle swarm optimization.Introduction to conventional PID control principles and fuzzy control theory,then further introduction to fuzzy control PID from the previous basic theory,the use of fuzzy control has the characteristics of not dependent on the object being controlled,design fuzzy PID antipendulum controller,according to the trolley controlled displacement and pendulum angle design two fuzzy controller,according to the input and output variables theoretical domain range to establish the affiliation function,refer to the fuzzy rule table output incremental parameters,and then defuzzify.In order to solve the shortcomings of quantization and scale factor need to be considered set,particle swarm algorithm is introduced to design particle swarm optimized fuzzy PID controller.Simulation models are established through Simulink,and comparison results through simulation show that the performance of the optimised system is significantly improved.(3)Design the overall scheme of the system according to the control requirements of the crane system,introduce the structural composition of the PLC,select the model of each PLC,select the model of inverter for large and small cranes and lifting mechanism,select the model of motor,select the model of encoder,select the model of sensor and touch screen,and establish the position detection system using Pepperford coding scale.Software design according to the overall system plan,hardware configuration of the system,writing the relevant PLC program,introducing the main control module program,designing the touch screen interface using TIA Portal Win CC and simulating it.