基于粒子群优化算法的桥式起重机PID控制参数优化

Overhead Crane's PID Control Parameters Optimization Based on Particle Swarm Optimizing Algorithm

为提高桥式起重机自动化水平,使起重机实现精确定位、有效防摆和快速消摆;以桥式起重机的定位和防摆控制为研究对象,根据拉格朗日方程,建立了桥式起重机二自由度运动的数学模型,并将其在Simulink中搭建出来;利用在Matlab中编写的粒子群优化算法程序,对PID的参数进行优化,设计了粒子群算法优化PID的定位和防摆摆控制器;由Matlab和Simulink联合仿真得:采用PSO算法优化PID参数的控制器后,起重机小车实现了无超调无静差的快速定位,同时吊重系统摆动得到了快速有效的抑制,仿真结果证明了该方法的有效性。

In order to improve the overhead crane automation level, to make the crane positioning accurately and anti--swing quickly. In this paper presented overhead crane＇s positioning and anti--swing as research object, according to Lagrange equation, set up the crane＇s two degree freedom mathematical model , and set it out in the Simulink. use the particle swarm optimization algorithm procedures to optimize the PID parameters, which is coded in Matlab, designs a positioning and anti--swing controller based on particle swarm optimization algorithm. The Co--simulation results of Matlab and Simulink show that the crane carriage ean accurate positioning , and the swing of hanging weight system can be effectively inhibited, which proved this method was effective.