基于拉格朗日算法的起重机摇摆模型构建及其防摇摆模糊控制系统仿真分析

Construction of crane sway model based on Lagrangian algorithm and simulation analysis of anti-sway fuzzy control system

针对桥式起重机吊装作业时的吊重摆动安全问题,基于拉格朗日方程构建桥式起重机作业时的负载摇摆数学模型,根据模糊控制理论设计桥式起重机防摇摆模糊PID控制器,并对所设计的防摇摆模糊控制系统进行仿真分析,与常规PID控制器防摇摆控制效果进行对比。结果表明,所设计的桥式起重机防摇摆模糊PID控制器能够快速消除起重机负载摇摆,而且可实现极小超调量下起重机的快速定位,其防摇摆控制效果明显优于常规PID控制器,可有效实现桥式起重机在作业过程中的防摇摆控制和作业安全。

Aimed at the safety problem of hoisted weight swing during the hoisting operation of the bridge crane,a mathematical model of the bridge crane sway during operation was constructed based on the Lagrange equation.According to the fuzzy control theory,the anti-sway fuzzy PID controller of the bridge crane was established,the designed anti-sway fuzzy control system of the bridge crane was simulated and analyzed,and the anti-sway control effect was compared with that of conventional PID controller.The results show that the designed anti-sway fuzzy PID controller for the bridge crane can quickly eliminate crane load sway and achieve fast positioning under extremely small overshoot.Its anti-sway control effect is obviously better than that of the conventional PID controller,which can effectively realize anti-sway control and operation safety of the bridge crane during operation.