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Crane position control system based on active disturbance rejection control technology
Published:2023-08-14 author:YUE Lu-hong, YANG Jing. Browse: 377 Check PDF documents

Crane position control system based on active disturbance rejection 
control technology


YUE Lu-hong, YANG Jing

(School of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan 030024, China)


Abstract: Aiming at the problem of low stability of the crane position control system caused by the disturbance of unknown loads caused by the swing of lifting weight,the elastic deformation of the luffing arm and the other factors, a pump valve coordinated position control system of hydraulic crane based on active disturbance rejection control(ADRC) algorithm was proposed. Firstly, the composition and principle of the pump valve coordinated position control system of hydraulic crane were expounded, and the mathematical model of the pump-valve coordinated position control system was established. The position control strategy and specific control method of the luffing mechanism were proposed, and the ADRC was designed. Then, the components of the simulation model of the position control system of the crane luffing system was established, and the components of the simulation model were tested to verify the accuracy of the simulation model. Finally, the co-simulation model of AMESim and MATLAB was established, and the position control performance and system stability of ADRC were studied. The research results show that compared with the proportion integration differentiation (PID) controller, the designed ADRC reduces the maximum position tracking error of the Sshaped displacement curve by 1.2 mm and the designed ADRC has higher stability than PID controller.

Key words: track crane; active disturbance rejection control(ADRC); pumpvalve coordination position control; position closedloop control; pressure closedloop control; proportion integration differentiation(PID) controller
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