基于模糊的桥式起重机的定位和防摆控制研究

Fuzzy Logic-based Anti-Swing and Position Control for Bridge Cranes

近年来,很多学者对桥式起重机的防摆控制方法进行了研究,以提高起重机的作业效率。针对起重机模型的非线性和不确定性,设计了一种基于模糊的起重机的定位和防摆控制方法,利用两个模糊控制器对小车的位置和负载的摆动分别进行控制。其中,模糊位置控制器的设计是参考一个简单的速度参考曲线,对位置和速度进行有效地控制;而模糊防摆控制器则模仿起重机操作员的实际操作经验设计了一套模糊控制规则来消除负载的摆动。仿真结果证明了该方法的可行性,并且与线性二次型最优控制(LQR)进行了比较,表明了该方法的良好性能,且该方法对不同的绳长和负载有着较好的鲁棒性。

Recently, many approaches have been implemented for anti-swing control of overhead cranes in order to improve the operational efficiency. It is proposed a fuzzy logic-based anti-swing and position control of overhead cranes considering the nonlinearity and uncertainty of the crane model, where two fuzzy controller are designed to control the trolley position and to load swing separately. The fuzzy position controller is based on a simple speed reference trajectory to control the position and velocity of the trolley; and in the fuzzy anti-swing controller, the fuzzy rules are devised to resemble the experience of human crane operators for eliminating the load swing. Simulation results verify the feasibility of the method, and compared with linear quadratic regulator (LQR), this method is of good performance and robust to different rope length and load mass.