基于IPSO的桥式起重机吊重防摆系统模糊PID控制研究

Fuzzy PID control for lifting anti-swing system of overhead crane based on IPSO

针对桥式起重机吊运工作过程中易发生吊重摇摆的问题,为保证作业安全,提高运行稳定性,提出了一种基于改进粒子群优化(IPSO)的吊重防摆模糊PID控制策略。首先,利用Lagrange动力学微分方程分析了影响吊重稳定性的因素,确定了控制参数指标;然后,对粒子群算法的更新策略进行了改进,并通过改进算法对模糊PID控制器的参数进行了优化,实现了系统参数的在线整定;最后,分析了影响吊重摆动的主要因素,并以小车的位置和吊重的摆角作为研究对象,进行了仿真分析和实验测试。研究结果表明:所提出的控制策略可有效实现小车的精确定位,并能快速消除吊重摆动;与传统PID控制相比,该控制策略的定位精度提高了73.3%,消除摆角时间缩短了43%,并具有较好的鲁棒性。

Aiming at the lifting and swinging problems occurred during the lifting of bridge cranes,in order to ensure the safety of the operation and improve the stability of the operation,a lifting anti-swing fuzzy PID control strategy based on improving particle swarm optimization(IPSO)was proposed.First,the Lagrange dynamic differential equation was used to analyze the factors that affected the stability of the hoisting and determine the control parameter index.Then the update strategy of the particle swarm algorithm was improved,and the parameters of the fuzzy PID controller were optimized through the improved algorithm to realize the online tuning of the system parameters.Finally,the main factors that affected the swing of the hoisting weight were analyzed,the position of the trolley and the swing angle of the hoisting weight were taken as the research objects to carry out simulation analysis and experimental testing.The results show that the proposed control strategy can effectively realize the precise positioning of the trolley and quickly eliminate the swing of the lifting load.Comparing with the traditional PID control,the positioning accuracy is improved by 73.3%,the time to eliminate the swing angle is shortened by 43%,and proposed control strategy has good robustness.