Intelligent anti-swing control for horizontal moving process of bridge crane

Aiming at buildup of the pragmatic model of crane, a three-dimensional dynamical equation as well as its concise dynamical equation under the circumstance of the cable With the fixed length was push forward in this paper. A self-adaptive fuzzy PID controller proposed was fully able to realize the precise positioning control horizontally. In the meantime, a fuzzy controller was introduced served as a feedforward anti-sway controller to quicken the pace of the attenuation of the angle. The experimental results demonstrates that this system is capable of both the precise positioning and angle attenuation within a minimal time period and with a robust anti-disturbance ability.