基于遗传算法的塔式起重机自动控制方法

Automatic Control Method of Tower Crane Based on Genetic Algorithm

塔式起重机自动化控制性能过差会降低该设备的工作效率,为此,提出基于遗传算法的塔式起重机自动控制方法。该方法将塔式起重机1次起重过程在横、纵和垂直3个方向上的作用力映射至广义坐标系中,构建塔式起重机动力学模型,将该模型与模糊控制器结合,利用控制器输出的策略信息指导塔式起重机自动化控制,通过遗传算法对塔式起重机自动控制策略进行优化,使塔式起重机自动化控制效率提升至机械性能允许范围内的最高水平,实现塔式起重机的高效自动控制。实验结果表明,所提方法对负载摆角和吊绳摆角的控制效率均较高,能够有效提升塔式起重机控制效果。

The poor automatic control performance of tower crane will reduce the working efficiency of the equipment.Therefore,proposes an automatic control method of tower crane based on genetic algorithm.This method maps the horizontal,vertical and vertical forces of the tower crane in the first lifting process to the generalized coordinate system,constructs the dynamic model of the tower crane,combines the model with the fuzzy controller,uses the strategy information output by the controller to guide the automatic control of the tower crane,and optimizes the automatic control strategy of the tower crane through the genetic algorithm.The automatic control efficiency of the tower crane is raised to the highest level within the allowable range of mechanical performance,and the efficient automatic control of the tower crane is realized.The experimental results show that the proposed method has high control efficiency for load swing angle and rope swing angle,which indicates that the proposed method can effectively improve the control effect of tower crane.