Anti-sway control for tower crane based on improved  differential evolution algorithm

DING Cheng-jun1, LI Qing1, GAO Shao-bin2, FENG Yu-bo3, JIA Li-zhen4
(1.School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China;
2.China Railway 14th Bureau Group CO., LTD., Beijing 102488, China;
3.Tianjin Communication & Broadcasting CO., LTD., Tianjin 300140, China;
4. Aeronautical Engineering Institute, Civil Aviation University of China, Tianjin 300300, China)

Abstract: Aiming at the problem of under-actuated four-degree-of-freedom tower crane positioning and anti-sway control, a tower crane dynamic model without linearization was established, and an anti-sway controller optimized by improved differential evolution algorithm was proposed. The asymptotic stability of closed-loop systems was proved by rigorous theoretical analysis. On the basis of the traditional differential evolution algorithm research, the mutation strategy was improved, and the adaptive strategy was used to dynamically update the cross probability, and it was applied to the parameter tuning process of the tower crane anti-sway controller, which improved the performance of the control system and reduced difficulty in parameter setting. Finally, based on the MATLAB/Simulink simulation platform, a comparative simulation experiment of the control model was carried out. The research results show that the improved differential evolution algorithm has fast convergence speed, strong optimization ability, and is not easy to fall into a local optimum in the parameter optimization process. The antisway controller optimized by the improved differential evolution algorithm has faster tracking speed and can limit the load swing angle within the allowable range, which can improve the tower crane transportation efficiency and safety factor.
Key words: tower crane; underactuated system; optimization of parameter; differential evolution algorithm; anti-swaying control