Anti sway tuned control of gantry cranes

被引：2
作者：
Suvorov, Vladimir A. [1 ,2 ]
Bahrami, Mohammad Reza [3 ]
Akchurin, Evgeniy E. [2 ]
Chukalkin, Ivan A. [2 ]
Ermakov, Stanislav A. [2 ,4 ]
Kan, Sergey A. [2 ]
机构：
[1] Peter Great St Petersburg Polytech Univ, Dept Mech & Control, St Petersburg 195251, Russia
[2] Troitsk Crane Plant, Moscow 108828, Russia
[3] Innopolis Univ, Fac Comp Sci & Engn, Innopolis 420500, Russia
[4] Peter Great St Petersburg Polytech Univ, Higher Sch Transport, St Petersburg 195251, Russia
来源：
SN APPLIED SCIENCES | 2021年 / 3卷 / 08期
关键词：
Gantry cranes; PI controller; Tune PID controller; ODE; Particle swarm optimization; Passive control system;
D O I：
10.1007/s42452-021-04719-w
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
Load swaying is one of the most frequently occurring problems at production sites. The purpose of this work is to create a control system for the movement of an overhead crane with an anti-sway function. The Particle Swarm Optimization method has been used to find the controller coefficients. The crane movement with the anti-sway function should be implemented using a PLC (programmable logic controller) and have a high speed of operation. The frequency converter controls the speed of the drive that moves the crane. The main advantage of the system is its simplicity and low cost combined with the low swaying of the load. The oscillation amplitude with an angular speed regulator is two to three times less in comparison with the control system without the angular speed regulator. The presence of an angular speed regulator minimizes the impact of the load weight and the rope length. The efficiency of the simulator program for calculating angular speed has been tested and confirmed. Verification of the created mathematical model of the crane with experimental installation has been made.
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页数：10
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