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Autonomous operation system of overhead crane based on digital twins
Published:2024-04-24 author:LI Hui HUI Yanbo, WANG Qiao,et al. Browse: 1063 Check PDF documents
Autonomous operation system of overhead crane based on digital twins


LI Hui1,2, HUI Yanbo1, WANG Qiao3, WANG Hongxiao1, ZHOU Ying1


(1.School of Mechanical & Electrical Engineering, Henan University of Technology, Zhengzhou 450001, China; 2.School of 

Mechanical & Electrical Engineering, Zhongyuan University of Technology, Zhengzhou 450007, China; 3.School of 

Electrical Engineering, Henan University of Technology, Zhengzhou 450001, China)


Abstract:  In order to improve the intelligence and digitalization level of bridge crane, the simulation and experimental study on the safe autonomous operation system of a bridge crane was carried out with the help of digital twin technology. Firstly, the overall architecture of the crane autonomous operation system was constructed by using the digital twin idea, and combined with the actual operation situation of the bridge crane, a four-model (i.e., virtual model, physical dynamics model, behavior control model and rule computation model)method was proposed to construct the twin model of the crane.Then, the crane path planning and trolley trajectory tracking and cart trajectory tracking simulation experiments were carried out on the crane twin experimental platform respectively, and variable domain fuzzy PID controller was proposed to control the trolley and the cart trajectory tracking of the crane. Finally, the physical verification experiment of interconnection and interoperability of the digital twin system was carried out. The experimental result verifies that in the proposed digital twin system of the crane, virtual simulation and physical experiments can be carried out synchronously. In the experiment, the proposed variable domain fuzzy PID control method achieves the cart tracking error within ±7cm and the trolley tracking error up to ±6cm in the trolley trajectory tracking experiment, which shows the progressiveness of the proposed control method. At the same time, the system preliminarily realizes the functions of virtual-real synchronization, virtual-real fusion and virtual-real comparison of digital twin technology, and has good three-dimensional visualization effect, which provides a way of thinking for realizing digitalization of electromechanical equipment.

Key words: crane; digital twin system; twin model; tracking control; virtual simulation; variable domain fuzzy PID controller
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