Research on Synchronous Control Technology of Polar Crane in Nuclear Power Plant

As a large-scale special lifting equipment, the positioning error of polar crane in nuclear power plant (abbreviated as polar crane) should be less than 5 mm. The operation control of crane traveling mechanism is the key technology to improve the positioning accuracy of polar crane. Firstly, based on the principle of virtual work, the dynamic model of polar crane is established. Secondly, a synchronous control method of crane traveling mechanism based on the combination of synchronous relative coupling control and a novel nonsingular fast terminal sliding mode control is proposed. Finally, the horizontal wheel-rail gap and lateral force of horizontal guide device are taken as evaluation indexes, working process and influence mechanism on positioning accuracy of the control method under the influence of the drive response delay of crane traveling mechanism are analyzed. This paper provides valuable reference for improving the positioning accuracy and robustness of polar crane.