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The cranes intelligent anti-sway Control Method

Author: ZhaoMingHui
Tutor: ChenZhiMei
School: Taiyuan University of Science and Technology
Course: Detection Technology and Automation
Keywords: Crane Positioning anti-sway Fuzzy Control Delay Filter Sliding Mode Control Neural Networks
CLC: TH21
Type: Master's thesis
Year: 2010
Downloads: 144
Quote: 0
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Abstract


In this paper, the crane system as the research object , the background and significance of the domestic and international crane anti-sway control study status quo , elaborate topics on this basis . Features and shortcomings of the existing control program , several new smart anti-sway control program . The main content is as follows: First, the crane system stress analysis using Lagrange's theorem to analyze the three-dimensional , with load lifting and without load upgrade the 2D overhead crane mathematical model and contain load upgrade the dimensional bridge crane mathematical model linearization processing to obtain the linear model . Second, the proposed fuzzy control scheme based on genetic algorithm crane . Were designed fuzzy controller position and anti-sway fuzzy controller , and the use of genetic algorithms to optimize the membership function of the fuzzy controller , the quantization factors and the scale factor to enhance the self- learning and adaptive ability of the fuzzy controller to improve the control of the system properties. Third, propose a crane anti-sway hybrid control scheme . Hierarchical sliding mode controller to control the crane the car displacement and load swing , zero vibration and zero vibration differential delay filter were designed to further reduce the residual vibration of the load , so that the system has good dynamic performance and strong robustness . Fourth, the fuzzy sliding mode control scheme presents a neural network - based crane . Design fuzzy sliding mode controller to achieve accurate positioning of the crane and intelligent anti-sway RBF neural network the crane model uncertainty items approximation to solve the load changes and disturbances uncertainty . Three control programs , simulation , simulation results show the effectiveness and feasibility .

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CLC: > Industrial Technology > Machinery and Instrument Industry > Lifting machinery and transport machinery > Lifting machinery
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