Anti-swing Control Strategy Design of Container Crane Based on Fuzzy-Logic and LQR-PID Controller

Abstract

With the development of world business and trade, effective anti-swing control strategy is vital to realize the automation of loading/unloading in ports. Based on the dynamic analysis of trolley movement, mathematical model of trolley motion system is established first. Then, a fuzzy control strategy combined with LQR-PID controller is proposed to decrease the swing of container crane. Finally, experiments were carried on based on the B&R trolley control system. The results show the validity of proposed control strategy.