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

A control system and crane technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve problems such as less engineering applications, increase adaptability and robustness, and improve the ability to resist external interference. Effect

Active Publication Date: 2017-12-19
WUHAN UNIV OF TECH
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  • Abstract
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  • Claims
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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

Method used

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Embodiment Construction

[0024] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

[0025] Such as Figure 1 to Figure 5 As shown, the crane intelligent anti-sway control method based on fuzzy PID control in the present invention mainly includes a fuzzy PID controller 1, an industrial computer 2, an industrial camera 3, a lifting encoder 5, a man-machine interface 8, a trolley encoder 14 and a cart Encoder 15, wherein the industrial camera 3 is installed below the lifting mechanism, the lifting encoder 5 is installed at one end of the lifting reel, and the trolley encoder 14 and the cart encoder 15 are respectively installed on the trolley and the cart. The crane includes a lifting operating mechanism 4, a trolley operating mechanism 13, and a trolley operating mechanism 16, wherein the hoisting operat...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/44B66C13/48B66C13/06B66C13/16G05B13/04
CPCB66C13/063B66C13/16B66C13/44B66C13/48G05B13/042
Inventor 汪小凯吴庆祥祝红亮危刚华林
Owner WUHAN UNIV OF TECH
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