基于模糊控制的桥式起重机定位防摆研究  

Fuzzy Logic-based Anti-Swing and Position Control for Bridge Crane

作　　者：蒋理[1] 陈树广[2] 

机构地区：[1]西安财经学院计算机系,陕西西安710061 [2]西安财经学院信息学院,陕西西安710061

出　　处：《计算机仿真》2009年第6期179-182,共4页Computer Simulation

基　　金：陕西省自然科学基金<虚拟教学实验室关键技术研究>(2006F34)

摘　　要：针对线性二次型最优控制(LQR)法在起重机定位防摆中存在的不足,在分析了桥式起重机小车运行物理模型的基础上,将模糊理论引入起重机定位防摆中,提出了基于模糊理论控制的思想,设计了一种基于模糊的起重机定位与防摆控制方法。通过建立隶属度函数与模糊控制规则,利用两个模糊控制器对小车的位置和负载的摆动角度分别进行控制,建立了模糊控制系统。通过与LQR仿真结果进行比较,结果表明了该方法的可行性与较好的鲁棒性。In light of the shortage of LQR for bridge crane anti - swing and position control, based on the analysis of the bridge crane wheelbarrow movement physics model, the fuzzy theory was introduced into bridge crane anti - swing and position control, and the idea of control based on fuzzy theory was put forward, a method based on fuzzy theory for anti - swing and position control was designed. By establishing the degree of membership function and fuzzy control rule, the position and laden swing were controlled by two directors, and a fuzzy control system was estab- lished. Compared with the LQR, it shows that this method is feasible and robust.

关 键 词：线性二次型最优控制 模糊理论 隶属度 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TH215[自动化与计算机技术—控制科学与工程]