Simulation of Anti sway Control Method for Tower Crane under Load Energy Coupling
Due to the significant impact of the starting and braking process of tower cranes on the lifting ropes,the load on the hook swings to a certain extent,making it difficult to quickly transport the load to the target position and reducing work efficiency.To address this issue,an anti-sway control of tower cranes under load energy coupling was put forward.First of all,a structural diagram of tower crane was constructed.After analysis,a dynamic model and its corresponding energy function were derived.Then,the energy coupling between trolley and load was strengthened,and the energy function was deduced.Moreover,the error signal between hook load and target position was calculated,along with five additional different error signals.Finally,the derived energy function was combined with the error sig-nals to obtain the driving force for controlling the rotation of tower crane.With the addition of a certain control gain,the sway control of tower crane was achieved.Performance experiments were conducted on the proposed method.The result indicates that the method can complete the most accurate,effective,and stable swing control in the shortest time.In this way,the hook load can be delivered to the target position stably.
Load energy couplingAnti-swing control of tower craneDynamic modelControl gainEnergy function
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