Research on Anti-swing Problem of Underactuated Bridge Crane Based on Four-rotor Control Technology

Bridge crane has the advantages of simple structure and flexible operation, that makes it widely used, however, it has nonlinear and underactuated characteristics, the traditional control method can't directly control the movement state of the load in the crane system, so there always presents a large swing in the load movement process, which is inevitable for the traditional control method. In view of the above problems, this paper proposes a anti-swing control scheme based on four-rotor control technology for crane, designs innovatively an anti-swing system composed of rotor module and tilting mechanism at the load end of the crane, establishes a three-dimensional modeling of the system in Solidworks, and designs the PID anti-swing control system. The experiment results show that the PID anti-swing control system designed in this paper can eliminate the oscillation of the load by 97.8% during the start-up stage, disturded steady motion stage and braking stage of the crane system, and the running curve of the load also become more gentle, which indicates the anti-swing control scheme proposed in this paper greatly improves the underactuated characteristics of the crane system and verifies the effectiveness of the proposed design.