应用于起重机稳钩控制的自适应神经模糊推理系统

Application of adaptive neuro-fuzzy inference system in anti-swing control to crane hook

提出一种基于自适应神经模糊推理系统(ANFIS)的控制方法应用于起重机的稳钩控制,该方法采用反向传播算法(BP)和最小二乘算法(LS)的混合算法对小车—吊重系统样本数据进行学习,调整各变量的隶属度函数,自动产生模糊规则。仿真结果表明,这种控制方法对小车—吊重系统的摇摆角度和小车位置的控制过程具有良好的动态性能和较强的鲁棒性能,说明了自适应神经模糊推理系统在起重机稳钩控制中的有效性。

It is difficult to control swing motion and transfer time of load while crane trolley carries load to a desired position. An anti- swing control method based on adaptive neuro- fuzzy inferences ystem is proposed in this paper. Hybrid algorithm of back propagation algorithm （BP） and least squared algorithm （I5） is applied for the sample data. Parameters of membership functions are adjusted and all fuzzy rules are generated automatically. Simulation results demonstrate that the method is feasible and effective for decreasing the swing motion of the load and minimizing the transfer time.