模糊自适应PID控制在桥式起重机智能防摆中的应用

Application of fuzzy self-tuning PID control in intelligent anti-Swing control of bridge crane

针对桥式起重机模型的非线性和不确定性,在建立数学模型的基础上,完成了基于模糊自适应PID防摆控制器的设计;控制器在角度环和位置环分别采用了模糊控制器和模糊PID控制器,可对吊重摆角和小车定位进行有效地控制,提高起重机的工作效率;通过MATLAB/SIMULINK仿真证实方法的可行性,并且与常规PID控制进行比较,方法响应速度快,稳态精度高,而且对于不同的绳长和吊重质量方法具有较好的鲁棒性。

For nonlinearity and uncertainty of bridge crane model, this paper designs a fuzzy self-tuning PID anti-swing controller based on the mathematical model. In the controller, fuzzy controller in the angle loop and fuzzy PID controller in the position loop are used, which can effectively control hoist swing and trolley position, to improve working efficiency of the crane. The MATLAB/SIMULINK simulation shows that the method is feasible. Compared with the conventional PID control, this method has fast response, high steady-state accuracy, and has better robustness for different hoist rope length and mass.