非线性优化PID控制在桥式起重机防摆中的应用

Application on Anti-Swing Control of Bridge Cranes Based on Nonlinear Optimization PID

控制或消除吊重摇摆对提高起重机工作效率、减少装卸作业安全隐患具有重要意义。以桥式起重机为例,建立其非线性模型,对负载摆动的动态过程进行动力学分析,研究负载摆动过程对系统的影响。以此为基础在Simulink环境下设计双闭环机构的PID控制器,通过非线性优化NCD模块对其进行参数优化。实验结果证明:该方法可快速准确确定PID控制器优化参数,5 s内可消除摆动,达到满意的控制效果;即使在吊重和绳长发生改变时系统仍具有一定鲁棒性。

Elimination or control of crane hoist swing is importantto improve work efficiency and reduce loading and unloading safety risks. This paper establishes nonlinear model of the bridge crane through analysis on dynamic process of load swing, studies its impact on the system, and designs a double closed loop PID controller based on nonlinear mathematical model with the SIMULNK environment. Through nonlinear optimization of the parameters of NCD Blockset, the parameters of PID controller can be quickly and accurately determined. The system can eliminate swing within5s and have certain robustness with a change of the payload and rope length.