船用起重机波浪补偿系统自整定模糊PID控制  

Marine Crane Wave Compensation System Self-tuning Fuzzy PID Control

作　　者：乌建中[1] 郑福来[1] 张大兵[1] 

机构地区：[1]同济大学机械工程学院,上海20092

出　　处：《机电一体化》2010年第9期68-71,共4页Mechatronics

摘　　要：波浪会影响船用起重机海上作业,为了保证吊装安全,有必要在船用起重机上加装波浪补偿装置。由于波浪补偿系统中液压元件本身所包含的非线性,常规PID算法虽然简单,但是由于其无法实时对其参数进行在线整定,难以保证波浪补偿的实时性和准确性,因此提出了一种基于模糊控制理论的PID参数自整定方案,建模仿真和现场实验结果均表明,控制器具有较快的响应速度、较小的超调、更高的精度。Waves can affect marine crane operations at sea,in order to guarantee the safety,it is necessary to install marine crane wave compensator.As the wave compensation system itself contains the hydraulic components of the non-linear,conventional PID algorithm although simple,it is difficult to guarantee the accuracy of real-time and set real-time parameter online.Therefore the author puts forward a method based on fuzzy control theory of PID parameter self-setting scheme,modeling simulation and experimental results show that the controller is quicker response speed, small over-correction,higher accuracy.

关 键 词：船用起重机 波浪补偿系统 自整定模糊 PID控制 Fuzzy PID Control PID参数自整定 模糊控制理论 在线整定 液压元件 响应速度 实验结果 实时性 建模仿真 海上作业 补偿装置 PID算法 准确性 非线性 现场 器具 

分 类 号：TH218[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]