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

Xiaodong Liu, Hongyu Zhang, Yong Xu*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2023 42nd Chinese Control Conference, CCC 2023
PublisherIEEE Computer Society
Pages4031-4036
Number of pages6
ISBN (Electronic)9789887581543
DOIs
Publication statusPublished - 2023
Event42nd Chinese Control Conference, CCC 2023 - Tianjin, China
Duration: 24 Jul 202326 Jul 2023

Publication series

NameChinese Control Conference, CCC
Volume2023-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference42nd Chinese Control Conference, CCC 2023
Country/TerritoryChina
CityTianjin
Period24/07/2326/07/23

Keywords

  • Anti-swing Strategy
  • Bridge Crane
  • Four-rotor Control Technology

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