Dynamic characteristics analysis and anti-swing control of bridge crane based on co-simulation

LIU Chun-tong, LI Wei-hua, HE Zhen-xin, WANG Xin, HE Chun-ping
(School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025,China)

Abstract: Aiming at the problem that the load was easy to swing in the bridge crane operation, which reduced the work efficiency and increased the safety risk, in order to master the key factors affecting the swing angle, the dynamic characteristics of the lifting system were analyzed through the joint simulation of MATLAB / Simulink, SolidWorks and ADAMS software. The influence of different factors such as initial swing angle, rope length change and running speed on swing angle change were obtained. In order to control the bridge crane safely and stably, a fuzzy adaptive PID controller was designed, based on the co-simulation of fuzzy adaptive control，the effect of the designed controller and the conventional PID controller on the swing angle suppression was analyzed and compared. In order to test the pendulum control effect of the designed controller, according to the real structure of the bridge crane, an experimental platform for pendulum control of the bridge crane is built. The simulation and experimental results show that the designed controller is 4 s ahead of the conventional PID control in the position control and swing angle control, and the control accuracy and robustness are also improved.
Key words: co-simulation; suspension of bridge crane; PID controller; fuzzy adaptive control; pendulum control