Anti-swing Control of Port Bridge Crane Based on Fuzzy Sliding Mode
The fuzzy sliding mode control method can adjust the parameters of sliding mode surface adaptively,and better adapt to the anti-swing requirements under different working conditions.Therefore,an anti-swing control method based on fuzzy sliding mode is studied to improve the working stability and safety of the bridge crane.By analyzing the dynamics model of port bridge crane,it is found that the position of trolley and the swing angle of lifting load are the main factors affecting the working stability of crane.According to the position of the trolley and the swing angle of the lifting load,the anti-swing control surface of the lifting load is defined.Combined with the fuzzy control algorithm,the fuzzy sliding mode controller is designed to obtain the anti-swing control moment of the lifting load,e-liminate the buffeting problem of the control moment,and complete the anti-swing control of the lifting load.Experi-mental results show that the method can effectively realize the anti-swing control of port bridge crane,and there is no buffeting problem.With the application of this method,the swing angle of lifting load can be reduced effectively at different trolley speeds,and the anti-swing control effect of lifting load is better.