桥式起重机PSO-PID防摆控制器的设计

Design of an PSO-PID Anti-sway Controller for Overhead Crane

以桥式起重机吊重防摆控制为研究对象,建立了吊重系统二维运动的数学模型,利用PSO算法优化PID参数,设计了基于粒子群算法优化的PID防摆控制器。MATLAB/Simulink仿真结果表明:采用PID参数被PSO算法优化的控制器后,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,证明了该方法的有效性。

The two-dimension action mathematical model of overhead crane was built. An anti-swing control method was presented for overhead crane via PID controller, in which the PSO algorithm was used to optimize the PID parameters. The MATLAB/Simu- link simulation results show that the crane trolley can be positioned accurately, and the swing of hanging weight system can be effectively restrained, which prove this method is effective.