Systematic study of two dimensional overhead crane control algorithm

Three-dimensional overhead crane as an important vehicle , widely used in ports , construction sites and other overhead gantry crane industrial sites, the design of its automatic control system security is important for improving production efficiency and production. In addition , three cable car system is - typical under- drive system to study the control problem also has important theoretical and research results can be extended to a class of under- drive system control applications. This paper studies the three-dimensional overhead crane positioning control system and anti- sway control , the main work is divided into the following sections: a detailed study of the actual three-dimensional physical model of the bridge gantry crane crane , and learn from at home and abroad for the crane system modeling research , the use of Lagrangian method , a nonlinear dynamic model of a three-dimensional crane , the equilibrium point linearization been linearized model . Due to the advantages of sliding mode control with strong robustness , we use sliding mode control approach to designing a crane controller, but ordinary sliding chattering problem exists , so a dynamic sliding mode method to weaken the chattering . This paper presents a dynamic sliding mode controller , and the Simulink simulation and virtual reality simulation to verify the feasibility of the algorithm. Design of variable universe adaptive fuzzy controller , and the Simulink simulation results show that the controller makes the crane fast and accurate positioning.