桥式吊车的优化PID控制设计

Design of Optimum PID Control on Bridge Crane

基于遗传算法设计了一种PID优化控制方法,以有效控制负载的运送并降低负载的摆动幅度。首先根据桥式吊车输入输出特性建立相应的PID控制器并设定其参数,因为桥式吊车是一种典型的欠驱动系统,其负载控制相比全驱动系统来说难度会增大很多。设定被优化参数的搜索范围,并给出相应的目标函数,最后对桥式吊车进行仿真并运用遗传算法迭代寻优。通过理论分析以及Simulink仿真实验,优化参数后的PID控制器在系统响应和抑制负载摆动方面都有了显著提高。

The bridge crane is a typical underactuated system,and its load control is more difficult than the full actuated system.Therefore,in order to effectively control the load transport and reduce the swing amplitude of the load,a PID optimization control method based on genetic algorithm was designed in this study.Firstly,based on the input and output characteristics of the bridge crane,the corresponding PID controller was established and its parameters were set.Then the search range of the optimized parameters was set and the corresponding objective function was given.Finally,the bridge crane was simulated and the genetic algorithm was used for iterative optimization.Through theoretical analysis and Simulink simulation experiments,the optimized PID controller parameters have been significantly improved in system response and load swing suppression.