基于灰狼算法的桥式吊车PID控制参数优化

Optimization of PID Control Parameters of Overhead Crane Based on Grey Wolf Optimizer

针对桥式吊车在运行过程中存在的货物摆动幅度较大和反应迟钝不能快速到达指定位置等问题,提出一种利用灰狼算法优化PID控制参数的桥式吊车PID控制系统。通过建立桥式吊车动力学模型;并对其位置和角度实行双PID控制,设计出相应的Simulink模型;进而将优化得出的PID参数与经验值得到的PID参数带入Simulink模型中进行仿真。结果表明,经灰狼算法优化的PID控制器具有良好的控制效果,验证了控制系统的有效性。

Aiming at the problem that the overhead crane has a large swing amplitude and slow response to the designated position during the operation of the overhead crane,an overhead crane PID control system using grey wolf optimizer(GWO)to optimize the PID control parameters is proposed.Firstly,a dynamic model of the bridge crane is established.And its position and angle are controlled by dual PID.Then the corresponding Simulink model is designed.Besides,the optimized PID parameters and the PID parameters obtained from the empirical value are brought into the Simulink model for simulation.It is found that the PID controller optimized by grey wolf optimizer has a better control effect,which verifies the effectiveness of the control system.