Bridge crane anti-swing control method based on neural network PID

Abstract

The invention discloses a bridge crane anti-swing control method based on a neural network PID, and relates to the field of bridge cranes. A BP neural network is combined with a traditional PID controller, the neural network is adopted as an on-line estimator, and an optimal PID control parameter is given in real time. An angle neural network PID controller and a position neural network PID controller are designed, and the swing angle and position of an objected lifted by a crane are controlled. Meanwhile, in order to solve the problem that motors on the two sides are unbalanced in rotation speed due to load disturbance in the operation process of a crane cart, a motor rotation speed synchronous controller is designed and used for torque compensation. Through the bridge crane anti-swing control method, the crane can be precisely positioned, lifted object swing can be eliminated, and in addition, the rail gnawing phenomenon caused by the unequal rotation speeds of the two motors of thecart in the crane transport process can be avoided.

Description

technical field [0001] The invention relates to the field of bridge cranes, in particular to a designed bridge crane anti-sway positioning control system which also has the function of anti-gnawing rails. Background technique [0002] As an indispensable means of transportation, bridge cranes have been widely used in workshops, ports and other places. However, during the loading, unloading and transportation of cranes, due to the acceleration and deceleration of carts and trolleys and the influence of external interference factors, the load will swing back and forth, which not only affects production efficiency but also poses certain safety hazards. Moreover, with the improvement of automation and mechanization, the continuous expansion of production scale, and the increasing production efficiency, cranes are used more and more widely in the modern production and transportation process, and their role is becoming more and more important. Therefore, the safety and efficiency ...

AI Technical Summary

Problems solved by technology

Mechanical anti-swing is to use mechanical means to consume the swinging energy of the hanging object to finally eliminate the swing. This kind of anti-swing device usually has a very complicated structure, poor reliability, troublesome maintenance, and the anti-swing effect is not good; electronic anti-swing Divided into open-loop and closed-loop

The cost of the open-loop anti-sway system is low, but because the operating environment of the crane is very complicated, many unconsidered factors will interfere with the actual operation, and the reliability cannot be guaranteed

At the same time, the open-loop method is difficult to consider the problem of precise positioning

The traditional closed-loop control uses PID control to adjust the swing angle of the hanging object, but its sensitivity is low and its adaptability is poor.

[0004] Another problem that often occurs during the operation of bridge cranes is the phenomenon of "gnawing rails". During the operation of the crane, there are many factors that will cause the speed of the motor of the crane to be unequal, such as changes in wheel friction, mechanical interference, and shifting of the center of gravity of the vehicle. , mutation of unilateral load, etc.

The occurrence of rail gnawing leads to increased running resistance, increased wear on the side of the track, and a sharp decrease in wheel life, etc.

Images