Intelligent anti-swinging crane control system and method based on fuzzy PID control

Abstract

The invention discloses an intelligent anti-swinging crane control system based on fuzzy PID control. The intelligent anti-swinging crane control system based on fuzzy PID control comprises a fuzzy PID controller, an industrial personal computer, an industrial camera, a lifting encoder, a human-computer interface, a trolley encoder and a gantry encoder. The human-computer interface is connected with the fuzzy PID controller. The industrial camera is installed on the lower side of a lifting operation mechanism. The lifting encoder is installed at one end of a lifting winding drum. The trolley encoder and the gantry encoder are installed on a trolley and a gantry correspondingly. The crane comprises the lifting operation mechanism, a trolley operation mechanism and a gantry operation mechanism. The lifting operation mechanism is connected with a lifting motor and a lifting frequency converter. The trolley operation mechanism is connected with a trolley motor and a trolley frequency converter. The gantry operation mechanism is connected with a gantry motor and a gantry frequency converter. The lifting frequency converter, the trolley frequency converter and the gantry frequency converter are connected with the fuzzy PID controller. The invention further discloses an intelligent anti-swinging crane control method based on fuzzy PID control. By the adoption of the intelligent anti-swinging crane control system and method based on fuzzy PID control, accurate control over the movement displacements of the gantry and the trolley of the crane and effective control over the swinging angle of a load can be achieved.

Description

technical field [0001] The invention relates to a crane control method, in particular to an intelligent anti-sway control method for a crane based on fuzzy PID control, and belongs to the technical field of crane control. Background technique [0002] As an efficient logistics transportation tool, cranes have high transportation efficiency and strong adaptability. They are widely used in factory workshops, freight terminals, and metallurgical industrial sites. They are mainly composed of cart operating mechanisms, trolley operating mechanisms, and lifting operating mechanisms. During the load handling process, the hoisting and operating mechanism lifts the load through the wire rope. After the load is lifted to a safe height, the large and small carts start to run. When they reach the target position, the hoisting and operating mechanism moves to put down the load. Since the crane system is an under-damped flexible system, the acceleration or deceleration of the large and sm...

AI Technical Summary

Problems solved by technology

At present, domestic researchers have done a lot of research and attempts on electronic anti-sway, but most of the work is on the design and simulation of anti-sway control algorithms, and few of them can be applied in engineering

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