基于模糊控制的桥式起重机防摆控制研究

Study on Anti-Swing Control of Bridge Crane Based on Fuzzy Control

近年来,随着智能控制理论的发展,模糊控制理论的研究已经应用到起重机的自动控制方面。本文在建立了桥式起重机的非线性数学模型的基础上,完成了模糊防摆控制器的设计,并在MATLAB/Simulink中进行了仿真分析。通过仿真结果对比分析,与常规PID控制器相比,位置环和摆角环采用模糊控制器取得了较好的防摆效果,响应速度快,稳态精度高。

With the recent development of intelligent control theory, the fuzzy control theory has been applied to automatic control of the crane. A design of the fuzzy anti-swing controller based on the nonlinear mathematical model of bridge crane was conducted, and MATLAB/Simulink simulation was carried out. The Simulink simulation results prove that the location fuzzy controller and the angle fuzzy controller show good anti-swing effect, compared with conventional PID controller. The two controllers improve not only the response speed but also the control accuracy.