门式起重机的减摆PID控制系统

Anti-swing PID control system for gantry crane

消除或减少吊重的摇摆对提高起重机工作效率、减少装卸作业安全生产隐患有重要意义,采用电子防摆装置,是减轻司机工作强度、改善司机恶劣工作环境的重要途径,也是实现装卸机械自动化的大势所趋。文中采用PID控制方法对起重机减摆问题进行了仿真研究,仿真结果表明,PID控制器既能实现小车的精确定位,又能有效地控制吊具的摆动。

It is important to eliminate or reduce the hoisting swing in order to improve the crane operational efficiency,and reduce the safety production hazard in loading and unloading process.The electronic anti-swing device is used as an important way to reduce the drivers＇ work strength,improve their severe work environment,which represents the general trend of achieving loading and unloading mechanical automation.The PID control method is adopted in the paper for simulation research on the swing reduction of the crane,with the simulation results showing that the PID controller can not only accurately position the trolley,but also effectively control swing of load lifting devices.