Abstract
Abstract Aiming at the anti-pendulum problem of bridge crane system, a two-dimensional model of bridge crane system under the action of damping force is established in this paper. Considering the influence of air resistance and friction between trolly and track in complex working environment, a novel air resistance model and friction model are introduced to establish a more accurate two-dimensional bridge crane model with variable rope length under the action of damping force.Based on the fuzzy adaptive PID controller, appropriate fuzzy rules are designed to realize the anti-pendulum positioning control of bridge crane.The simulation results show that compared with the multi-sliding mode controller, the controller designed in this paper has better control effect and strong robustness.
Published Version
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