Anti-swing Control of Container Crane based on CMAC-PID Controller

摘要

This paper establishes the mathematical model of the system of container crane,and then introduced the CMAC and PID compound control principle and characteristics,and PID control of the position of the container crane,CMAC-PID control of the position of the container crane,and CMAC-PID control of container crane's position and angle.The simulation results show that the crane based on the CMAC and PID compound control has a very good positioning and anti-swing effect.