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Intelligent Controller Design and Study on Anti-swing Control of Overhead Crane

Author: LuZhiQiang
Tutor: XiongGuoLiang
School: East China Jiaotong University
Course: Vehicle Operation Engineering
Keywords: Bridge crane Anti-sway Fuzzy Control Fuzzy self-tuning PID control Simulation
CLC: TH215
Type: Master's thesis
Year: 2009
Downloads: 122
Quote: 0
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Abstract


Bridge crane as a means of delivery, are widely used in various industrial applications. Due to the structure of the crane, load lifting process inevitably swing. A conventional crane is controlled manually by an operator, usually place, then wait heavy wobble natural attenuation to eliminate this negative swing way is to reduce production efficiency consideration. Design crane active anti-sway control system, anti-sway and the operational control of the car will be considered together, its cranes Quick, safe operation of great significance. The crane hoist system dynamics analysis to solve crane fast bit basis. Based on the cranes physical model, the basic method of application of theoretical mechanics, the use of Lagrange equation crane hoist system dynamics equations, derived on the basis of simplified linear hoist two degrees of freedom swing angle model. In this paper, frequency conversion technology, design S7-200 type PLC as the core crane anti-sway control system. Frequency control technology in the application of the crane, which greatly improved the stability and reliability of the crane control system. PLC high reliability, flexible, low maintenance, and other prominent advantages has been widely used in the industrial field. Research and simulation results show that the conventional PID control method hoist bridge crane anti-sway control has some limitations. In this paper, fuzzy control mechanism, crane anti-swing controller based on fuzzy control. The method crane anti-sway and positioning control are designed separately, using the fuzzy controller position and angle fuzzy controller controller crane accurate positioning and anti-sway. Reduce the computation time, and improve the control efficiency. With MATLAB Simulink Fuzzy toolbox to simulate and analyze the design of the program. The results show that the fuzzy controller has good control performance, velocity and displacement tracking better than the former, robustness is not affected by the disturbance, is an ideal control method. Fuzzy control static position and angle amplitude is too large, thus using fuzzy self-tuning PID controller to eliminate the position deviation and improve swing angle control. Simulation and experimental results show that the method can eliminate the static error system, reducing the swing angle, shorten system response time, anti-interference ability.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Lifting machinery and transport machinery > Lifting machinery > Generally with overhead crane
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