起重机防摇摆模糊自适应PID控制的仿真

Simulation on Anti swing for Crane Based on Fuzzy Adaptive PID Control

起重机起吊过程中,由于绳索摇摆,使吊物位置变化复杂,线路变化非线性,吊物位置不确定;而采用常规定参数PID控制难以解决货物位置控制问题,无法对起重机的位置和摆角进行精确控制。针对这些问题,采用拉格朗日能量法建立起重机起吊系统模型,提出一种基于模糊自适应PID控制的起重机起吊控制方法,结合模糊控制理论对PID参数进行自适应整定。仿真结果表明,与传统定参数PID控制相比,模糊自适应PID控制具有良好的适应性和鲁棒性,可提高起重机起吊系统的动态性能。

In the process of the lifting of the crane, the proportional-integral-derivation （PID） control alone is impossible to deal with the complex, non-linear, uncertain postition of the crane. As a resnct, it is unable to adjust precisely the oscillation angle during the lifting. In order to solve the problems mentioned, I brought up a method called fuzzy adaptive PID control and built a mod- el system for the process of the hoisting of the crane. Which is based on Lag＇range energy method and combines the setting between the fuzzy control theory and PID adaptive parameter. Simulation results show that compared with the conventional PID control, fuzzy PID adaptive control is rather flexible and robust and it improves the dynamic property of the crane system.