桥式起重机定位及防摆的最优迭代控制

Position Tracking and Anti-Swing for Bridge Crane Based on Optimal Iterative Learning Control

在起重机定位防摇优化控制研究中,由于桥式起重机定位防摆控制系统是一个强耦合、非线性模型复杂系统,系统的实时性能差,传统的PID控制器往往难以进行高精度定位,防摇控制也并不理想。为解决桥式起重机运行的规律优化控制,提出应用最优迭代学习控制的方法,实现对系统的定位以及防摇精确控制。用拉格朗日(Lagrange)方程建立桥式起重机的数学模型和最优迭代学习控制模型,对桥式起重机进行定位防摇控制仿真。结果证明改进的控制算法有效,并通过仿真为桥式起重机精确定位,防摇控制提供了科学依据。

Because the anti - swing control system of bridge cranes is a complex system with strong coupling and nonlinearity, the real - time performance of the system is poor, the traditional PID controller is often difficult to a- chieve high - precision positioning, and the anti - sway control is also not ideal. To obtain the optimization control law of bridge cranes, a method with optimal iterative learning control system to realize precise positioning and anti - sway control is put forward. The mathematical model and the optimal iterative learning control model of bridge cranes are established by using the Lagrange equation, and the precise positioning and anti - sway optimal control of bridge cranes are achieved. Simulation results verify the effectiveness of the improved algorithm.