Research on anti-swing of bridge crane based on serial fuzzy PID with IVY algorithm

Bridge cranes often encounter challenges in suppressing load swing and positioning the trolley accurately. This study presents a serial fuzzy PID control method based on the IVY algorithm. First, a mathematical model of the bridge crane is established using the Lagrange equation. Then, the IVY algorithm is introduced for iterative parameter optimization, followed by the design of a serial fuzzy PID controller. Finally, experiments are conducted on the Simulink platform, including algorithm optimization, controller performance evaluation, and robustness tests. The experimental results demonstrate that the proposed serial fuzzy PID control method based on the IVY algorithm outperforms the serial fuzzy control method based on the PSO algorithm, the LQR control method, and the MSMC control method. It reduces the trolley positioning time and minimizes the maximum load swing angle, showcasing strong adaptability and robustness. This method significantly enhances the robustness and safety of bridge crane operations.