基于模糊控制的二自由度门式起重机防摆研究  

Investigation of Anti-sway Control of Two-Degree-of-Freedom Gantry Crane Based on Fuzzy Control

作　　者：郑飞杰[1,2] 吴龙[1,2] 晋芳伟[1,2] 郑亚青[3] 邱丽梅[1,2] 王春荣[1,2] 

机构地区：[1]三明学院机电工程学院,福建三明365004 [2]机械现代设计制造技术福建省高校工程研究中心,福建三明365000 [3]华侨大学机电及自动化学院,福建厦门361021

出　　处：《三明学院学报》2015年第6期56-59,共4页Journal of Sanming University

基　　金：福建省教育厅科技项目(JB14094);福建省教育厅"卓越计划"试点项目(SD1109);三明学院科研基金自然科学研究项目(B201309/Q)

摘　　要：二自由度门式起重机在运输过程中,吊载摆动控制是相当重要的。为了更好的克服二自由度门式起重机吊载运行的非线性和时滞性,本文在建立系统模型的基础上,提出了模糊控制策略,设计了吊载防摆的模糊控制器,然后在MATLAB中作防摆控制仿真分析。结果显示,模糊控制器实现小车定位、吊载摆动可控,且超调较小,稳态精度和响应速度理想。In the process of transportation, the anti-sway control of the two DOF gantry crane is very important. In order to better overcome the nonlinear and time delay of the two DOF gantry crane system, based on the system model established, the fuzzy control strategy was proposed,the anti-swing fuzzy controller was designed in this paper,and a study on the simulation about the anti-sway control in MATLAB/Simulink environment.Through analyzing the simulation result, the fuzzy controller can realize the positioning of the car, the swing of the load is controlled, and the overshoot is small, the steady state precision and the response speed are ideal.

关 键 词：二自由度 防摆 模糊控制 MATLAB 

分 类 号：TH213.5[机械工程—机械制造及自动化]