基于模糊自适应PID的桥式起重机智能防摆控制研究

Research on intelligent anti-Swing control of bridge crane based on Fuzzy self-tuning PID control

为了消除桥式起重机吊重摆动和实现小车精确定位,提高起重机工作效率,国内外很多学者对防摆控制方法做了大量研究。在建立起重机非线性数学模型的基础上,完成基于模糊自适应PID防摆控制器的设计,其中角度环采用模糊控制器,位置环采用模糊PID控制器。通过与线性二次型最优控制(LQR)仿真结果比较,表明该方法的可行性,其控制过程更加平稳,稳态精度更高,并且当吊重质量和绳长发生改变时,系统仍有较强的鲁棒性。

In order to promptly stop load swing and precisely position the trolley of bridge crane, further to improve the efficiency of cranes, many scholars at home and abroad have done a lot of studies for anti-swing control methods. This paper designs a fuzzy self-tuning PID controller based on nonlinear mathematical model of bridge crane. In the controller, the position loop takes use of fuzzy PID controller, the angle loop takes use of fuzzy controller. The MATLAB simulation shows the feasibility of the method compared with the LQR, the control process is more stable and the control accuracy is higher. Moreover, the system has better robustness and good performance when load mass and rope length change.