Shenyang Jianzhu Unibersity
National Science Foundation of China(No:52075348) ；Science and Technology Project of Ministry of Housing and Urban-Rural Development（2019-K-080）；Key R & D project of Hebei Province（192119904D）
The bridge crane is a widely used large-scale handling equipment.In the actual work process, the load swing accompanied by the initial load swing angle will occur when the trolley moves, which will affect the work efficiency and cause safety hazards. In response to this situation, the expected trolley error trajectory and swing angle error trajectory are set, the dynamic model of the bridge crane is converted to the error tracking dynamic model, and an anti-swing control strategy of the bridge crane based on the energy analysis method is proposed. The stability of the closed-loop system is theoretically analyzed by LaSalle invariance principle and Lyapunov method.The results of simulation and experiment show that the control performance of the proposed anti-swing control method is hardly affected by the initial load swing angle, which can ensure that the bridge crane can achieve good control effects without the initial load swing angle and with it. It can drive the trolley to accurately reach the target position, effectively suppress and quickly eliminate the load swing angle, and have strong robustness to external disturbances.