1. 研究目的与意义（文献综述）

1.1research background and significance

in factories, ports, and warehouses, overhead crane, as a moderntransporting tool, have the advantages of saving time, high efficiency, simplestructure, small footprint, and excellent safety, which is used to move materials,improve the efficiency, guarantee the production safety and reduce labor forces.at the same time, modern companies are expanding their production capacities,pursuing higher production efficiency and reducing labor costs. as a result,the requirements for automation, intelligence, production efficiency, andsafety of overhead cranes are constantly increasing.

overhead cranes generallyconsist of girders, trolleys, hooks, driver’s cabs, and rails ^[1].at present, most overhead cranes in china use relay control systems, which havepoor safety performance and low degree of automation. moreover, payloads aremost likely to swing during the starting and braking of cranes, which prolongsthe payloads positioning time, reduces the production efficiency, and reducesthe positioning accuracy of girder, trolley, and payloads.

2. 研究的基本内容与方案

2.1 determinationof research methods

according to the classical control theory, the system mustbe analyzed completely and then a mathematical model of this system should be abstractedto achieve the control of system. however, in practice, in order to establishthe system model, some certain factors will be simplified or ignored, and thesystem should be linearized or its order should be reduced to cut the controlcost. since the influence of some factors is ignored, the ideal control effectcannot be achieved in the practical control, and the ability of the system to undergoexternal uncertain interferences is limited.

the overhead crane system is a nonlinear and complexsystem with uncertainties. and the nonlinearity is reflected on the changes inthe parameters of the system itself, such as the nonlinearity of the mechanicalstructure, the friction between rails and the trolley, the change of the ropelength, and the change of the payloads mass, whereas the uncertainty isreflected on the external disturbances, such as the impact of the wind. forthis kind of system, in order to maintain the system stability, the controllermust obtain some certain requirements. hence, considering the shortcomings ofthe above classical control theory, the classical control theory has littleeffect on overhead crane anti-swing control system.

3. 研究计划与安排

(1) week 1: draft the scheme, and collectthe related academic materials;

(2) week 2, 3: complete the topic-selectingreport and the literature retrieval report, translate the foreign academicmaterials, and collect the related academic materials;

(3) week 4, 5: complete the 1^st chapter, introduction, of thesis,build the dynamic model of overhead crane, simplify the model as the linearsystem with the constant rope length, transfer the simplified model to a transferfunction, build the state equations, determine parameters of a certain overheadcrane system, conduct the characteristic analysis of overhead crane system, andcomplete the 2^nd chapter, themodelling and characteristic analyzing of overhead crane anti-swing controlsystem, of thesis;

4. 参考文献（12篇以上）

[1] decai li. study of craneanti-swing system based on the fuzzy control system of self-adjustablequantization factors and scale factors[d]. shenyang: northeastern university,2010. [in chinese]

[2] keqi wang. study ofanti-swing and position control for bridge cranes[j]. journal of systemsimulation, 2007, 19(8):1799-1802. [in chinese]

[3] g.a. manson.time-optimal control of an overhead crane model[j]. optimal control applicantsand methods, 1982, 3(2):115-120.