Abstract:  Aiming at the lifting and swinging problems occurred during the lifting of bridge cranes, in order to ensure the safety of the operation and improve the stability of the operation, a lifting anti-swing fuzzy PID control strategy based on improving particle swarm optimization (IPSO) was proposed. First, the Lagrange dynamic differential equation was used to analyze the factors that affected the stability of the hoisting and determine the control parameter index. Then the update strategy of the particle swarm algorithm was improved, and the parameters of the fuzzy PID controller were optimized through the improved algorithm to realize the online tuning of the system parameters. Finally, the main factors that affected the swing of the hoisting weight were analyzed, the position of the trolley and the swing angle of the hoisting weight were taken as the research objects to carry out simulation analysis and experimental testing. The results show that the proposed control strategy can effectively realize the precise positioning of the trolley and quickly eliminate the swing of the lifting load. Comparing with the traditional PID control, the positioning accuracy is improved by 73.3%, the time to eliminate the swing angle is shortened by 43%, and  proposed control strategy has good robustness.

Key words:  bridge crane; improved particle swarm optimization; fuzzy PID control; anti-swing control