Graduation design of Wuhan University of Technology (Thesis)

Research on anti sway control system of overhead traveling crane

College (Department): International Institute of Education

Professional class: gj130 class, major in vehicle engineering

Student Name: Xu Ming

Tutotr: Wang Xiaokai

Statement of Originality

I solemnly declare that the submitted paper is the result of my independent research under the guidance of my supervisor. This article does not include any work that has been published or written by any individual or group other than the content quoted in this article. I am fully aware that the legal consequences of this statement are to be borne by me.

Author signature:Xu Ming

May 30, 2017

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The research of bridge crane anti-sway system

abstract

With the rapid development of industry, the bridge crane is widely used in all kinds of construction. The subsequent swing bridge crane operation process for construction safety brought a lot of hidden trouble, therefore, prevent the process of crane’s sway’s research was born.

The paper compares the swing control of the bridge crane by studying the more mature inverted pendulum. The dynamic analysis of bridge crane and inverted pendulum is carried out through Lagrange equation, and the mathematical model is established. The two systems are analyzed and the performance indexes are obtained. The design of proportional integral differential controller and Simulink simulation verify the feasibility of inverted pendulum applied to crane model. Then, in order to optimize the bridge crane control effect, the linear quadratic regulator control method was adopted, a linear quadratic regulator controller was designed, and run in MATLAB, but the results show that the linear quadratic regulator controller is still cannot achieve the ideal control effect. In order to achieve the optimal control result, a state feedback controller is designed and the reference input is increased for the control system. Based on the simulation, the feedback controller based on linear quadratic regulator is very good for the swing of the bridge crane system. The main problems encountered and addressed in this article are the following:

(1)the bridge crane mathematical model based on the Lagrange equation is established.

(2) the crane proportional integral differential control model runs the simulation in Simulink and always shows that the function is wrong.

(3) the design of linear quadratic regulator controller is mainly carried out by MATLAB, and there are grammatical mistakes in programming. And the value of the weighted matrix Q is going to be a lot of trying.

(4) the design of the state observer.

Key words: PID, LQR, bridge crane swaying, inverted pendulum

1 The introduction 6

1.1 The origin of the crane 6

1.2The background, meaning and purpose of the project 6

1.3 The existed problems and the dynamic of domestic and foreign research 7

1.3.1 problems of anti-rolling technology 7

1.3.2 foreign research trends 8

1.4 The main content of the paper 10

2. Inverted pendulum system modeling, performance analysis and PID simulation 12

2.1 An overview of the inverted pendulum 12

2.1.1 Classification of inverted pendulum 13

2.2.1 set the parameter of the inverted pendulum 16

2.3 Performance analysis of system 16

2.3.1Stability analysis of the system 16

2.3.2 Controllability analysis of system 17

2.3.3Observable analysis of system 18

2.3.4 The step response analysis of the system 18

2.3.4.1 Step function signs and definitions 19

2.4 Linear level one inverted pendulum PID control simulation 20

2.4.1 modeling in the simulink 20

2.4.2PID controller parameter setting 21

2.5 The conclusion 25

3 bridge crane anti-sway modeling 26

3.1 Methods of modeling 26

3.1.1Classification of modeling methods 26

3.1.2 Newton and Lagrangian 26

3.1.3 Lagrange equation 27

3.2Crane anti-sway system mechanics simplified model 27

3.2.1 introduction of crane system 27

3.3 The nonlinear crane system modeling which based on the Lagrange equation 29

3.4 The linear equation in the vicinity of the operation point 31

3.5 The transfer function and equation of state of the crane system 31

3.6 The physical parameters of the crane system 32

3.7 summary 33

4.the performance analysis of the system 34

4.1The concept of performance analysis 34

4.1.1 Stability of the system 34