基于模糊控制的二自由度门式起重机防摆研究

Investigation of Anti-sway Control of Two-Degree-of-Freedom Gantry Crane Based on Fuzzy Control

二自由度门式起重机在运输过程中,吊载摆动控制是相当重要的。为了更好的克服二自由度门式起重机吊载运行的非线性和时滞性,本文在建立系统模型的基础上,提出了模糊控制策略,设计了吊载防摆的模糊控制器,然后在MATLAB中作防摆控制仿真分析。结果显示,模糊控制器实现小车定位、吊载摆动可控,且超调较小,稳态精度和响应速度理想。

In the process of transportation, the anti-sway control of the two DOF gantry crane is very important. In order to better overcome the nonlinear and time delay of the two DOF gantry crane system, based on the system model established, the fuzzy control strategy was proposed,the anti-swing fuzzy controller was designed in this paper,and a study on the simulation about the anti-sway control in MATLAB/Simulink environment.Through analyzing the simulation result, the fuzzy controller can realize the positioning of the car, the swing of the load is controlled, and the overshoot is small, the steady state precision and the response speed are ideal.