Research On Key Technology Of Intelligent Anti-Sway And Precise Positioning Of Bridge Crane

With the development of intelligent manufacturing technology,cranes not only need to complete handling tasks,but also efficiently connect the entire manufacturing process.Therefore,higher requirements are put forward for crane operations,that is,in the more complex and changeable intelligent manufacturing workshop,more stable,more accurate and faster to complete the handling work,intelligent anti-sway and highprecision positioning technology is the core key technology to meet the above requirements.Aiming at the characteristics of nonlinearity,multi-coupling and timevarying parameters of the overhead crane system,especially its underdrive characteristics,an intelligent anti-sway and precise positioning algorithm of overhead crane for intelligent manufacturing workshop applications is designed.The main contents are as follows:1.In order to better ensure the anti-sway positioning control effect of overhead crane,a data-driven crane learning modeling method is designed,and the difference between the input data,actual output data and general simulation data of the crane is used as the training data set,and its mixed data model is obtained by Gaussian regression training learning,which improves the model accuracy of the crane,especially its nonlinear characteristics.2.Combined with the established crane hybrid data model,the intelligent antisway and precise positioning algorithm of overhead crane based on model predictive control is designed,and the recursive feasibility and stability of the algorithm are analyzed,and the intelligent anti-sway and precise positioning of overhead crane are theoretically realized,and the control effect of anti-sway and positioning of the algorithm in complex environments is verified by three different simulation experiments,which has good environmental adaptability and robustness.3.In order to meet the needs of intelligent manufacturing workshop data network transmission,the overhead crane intelligent anti-sway and precise positioning network control system is designed.The unreliable problems such as delay during data transmission are analyzed,and the delay problem in data transmission is reduced by designing an active compensation control algorithm,and the stability of the control algorithm is analyzed.The communication protocol for data transmission between the anti-roll positioning controller and the inclination sensor is selected to further ensure the reliability of data transmission during crane operation.4.In order to verify the effectiveness of the designed algorithm,an overhead crane network control experimental platform was built.Through three types of experimental results,the intelligent anti-sway and precise positioning control algorithm of the overhead crane designed in this thesis can make the swing angle less than 0.1 degrees and the positioning accuracy less than 10 mm when there is no external interference,and can eliminate more than 90% of the interference swing angle and the positioning accuracy is less than 10 mm when there is external interference.In addition,the field test was carried out in Hunan China Railway Wuxin Company,and the test results also showed the effectiveness of the design algorithm in this thesis.