Open AccessAnti‐shake positioning algorithm of bridge crane based on phase plane analysis
Author(s) -
Zhu Yuxuan,
Niu Dan,
Li Qi,
Chen Youcheng,
Wei Shuang,
Liu Jinbo
Publication year - 2019
Publication title -
the journal of engineering
Language(s) - English
Resource type - Journals
ISSN - 2051-3305
DOI - 10.1049/joe.2019.1083
Subject(s) - bridge (graph theory) , shake , acceleration , computer science , swing , position (finance) , phase (matter) , plane (geometry) , phase plane , algorithm , limit (mathematics) , function (biology) , simulation , control theory (sociology) , engineering , mechanical engineering , mathematics , artificial intelligence , physics , medicine , mathematical analysis , geometry , control (management) , finance , classical mechanics , quantum mechanics , nonlinear system , economics , evolutionary biology , biology
In this study, the dynamic model of bridge crane system is established based on Lagrange equation. The transfer function of crane running system is derived. A new crane anti‐swaying scheme different from traditional mechanical anti‐shake strategy is proposed and it is based on phase plane analysis algorithm. By the adaptive speed planning method, the industrial grade bridge crane can calculate different motion trajectories online without any off‐line optimisation calculation under the given acceleration and maximum speed limit conditions. At the same time, the industrial grade bridge crane realises the purpose of anti‐sway and positioning of the crane. The field experiment results show that the swing of the crane is obviously suppressed and the positioning accuracy fully meets the industrial requirements when the load of the crane reaches the target position.