Abstract: Aiming at the dangerous problem caused by the swing of the lifting object in the luffing operation of tower crane, a control strategy based on adaptive seven segment S-speed trajectory was proposed for trolley positioning and lifting object anti-swing. Firstly, the factors affecting the swing angle of the hanging object were analyzed according to the Lagrange equation, and the control target was determined. Secondly, the mathematical model of trolley speed under seven section trajectory was deduced; considering the nonlinear factors in the trolley transmission system, the asynchronous motor model based on PI variable frequency speed regulation was established in MATLAB/Simulink, the virtual prototype of trolley and hanging object was established in ADAMS, and the electromechanical joint simulation was realized through the controls interface module of ADAMS and MATLAB. Finally, a variety of working conditions were designed to verify the control strategy. The results show that the above control strategy can effectively realize the accurate positioning of the trolley and limit the swing angle of the hanging object to about 5 °; comparing with the traditional trapezoidal speed trajectory, the anti-swing effect of this control strategy is improved by 23%, and the safety of tower crane operation can be improved.

Key words:  tower crane; S-speed locus; co-simulation; positioning; anti-swing control

LU Ning, SONG Peng-cheng. Variable amplitude positioning and anti-swing control of tower crane based on adaptive S speed locus［J］.Journal of Mechanical & Electrical Engineering, 2022,39(1):120-127.