基于模糊PID控制的大型履带起重机双马达速度同步控制

Speed synchronization control of dual-motor in large crawler crane based on fuzzy PID control

为了实现大型履带起重机起升系统双马达的同步控制,提出了模糊PID控制策略,即把模糊推理运用于PID参数的整定,来补偿同步系统因非线性和时变性所导致的同步误差。仿真和实验结果表明,与常规PID控制相比,模糊PID控制具有超调量小、跟踪迅速、鲁棒性强等优点,能够较好地适用于起重机双马达速度同步控制。

To realize the synchronous control on the dual-motor in the hoisting system of a large crawler crane, a fuzzy PID control strategy was proposed. The fuzzy reasoning was applied to self tuning of the PID parameters to compensate the synchronous error carrsed by the nonlinearity and time-variation of the synchronous system. The results of simulation and experiment showed that, compared with the conventional PID control, the fuzzy PID control is characterized by less overshoot, more rapid tracking, and better robustness, it is better for the synchronous system of the dual-motor in the crane.