Research on anti-swing control of tower crane with lifting weight swing function

Abstract

In order to ensure the accurate positioning of the assembly building, a swing trolley with swing function is designed. In order to solve the swing angle difference generated in the process of adjusting and positioning of the swing trolley, a simplified model is established to analyze the force and establish the relationship between the angular acceleration of the lower lifting beam and the angle of the swing. Secondly, the kinematic analysis is carried out for the rotating pendulum trolley, and its motion model is analyzed under uniform acceleration braking, uniform speed running and uniform deceleration braking. Finally, the angle difference of the rotating pendulum is gradually increasing in the case of different angular acceleration by example. And the variation of the rotating pendulum angle difference in different processes, laying the foundation for subsequent control studies.