基于模糊PID控制的智能起重机大车同步纠偏优化控制研究

Research on synchronization optimization control of intelligent crane cart based on fuzzy PID control

为了实现智能起重机大车平移机构同步控制,对智能起重机大车平移机构和大车同步控制系统以及多级模糊PID控制进行分析和研究,提出了基于多级模糊PID控制策略,确保系统速度响应性能要求的基础上对同步偏差进行动态优化控制,解决大车同步控制系统因时变性和非线性所产生的同步偏差和定位误差。结果表明,相比于常规PID控制,多级模糊PID控制具有响应快、鲁棒性好、超调量小等优点,能很好的适用于智能起重机大车同步纠偏控制。

In order to realize the synchronous control on the cart translation mechanism of intelligent cranes, the paper analyzes and studies the synchronous control system of the cart translation mechanism and cart of intelligent cranes and multilevel fuzzy PID control, proposes a multilevel fuzzy PID control strategy to dynamically optimize the synchronous deviation on the basis of ensuring the speed response performance requirements of the system, so as to solve the synchronous deviation and positioning error caused by time variation and nonlinearity of cart synchronous control system. The results show that, compared with conventional PID control, multilevel fuzzy PID control has the advantages of fast response, good robustness and small overshoot, and can be well applied to synchronous control of intelligent crane carts.