桥式起重机吊重Fuzzy-LQR防摆控制器的设计  

The Design of Fuzzy-LQR Anti-Sway Controller for Overhead Crane

作　　者：李军[1] 李学鋆 LI Jun, LI Xue-yun(School of Mechanical ＆ Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, Chin)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机械设计与制造》2018年第8期233-236,共4页Machinery Design & Manufacture

基　　金：重庆市重点实验室项目(cstc2015yfpt_zdsys30001);重庆市自然科学基金重点项目(CSTC2013yykf B0184)

摘　　要：桥式起重机大小车联合运动可以提高作业效率,在其吊重防摆控制中加入大车运动更具工程意义。针对桥式起重机防摆定位控制具有非线性、强耦合、不确定等特点,设计Fuzzy-LQR控制吊重摆动。根据Lagrange方程建立三维动力学模型并在大小车运动方向对其进行解耦;通过信息融合技术将模糊控制器的多输入进行降维处理,解决模糊规则爆炸问题,结合LQR控制原理搭建Simulink仿真模型。选用CXTD16t-19.5m双梁桥式起重机进行仿真模拟,结果表明:运用Fuzzy-LQR分别控制解耦后的大小车运动或者大小车联合运动都能达到防摆定位的目的。The joint movement of crane trolley and cartcan improve the operating efficiency,The significance of engineering application will be more great if joint the cartmovement in the control system. In view of the nonlinear,strong coupling and uncertain characteristics of anti swing position control of bridge crane,Fuzzy-LQR for control antis-wing is designed.According to lagrange equation to establish three-dimension dynamic model and decoupling it in the direction of the crane trolley and cart. Multi input of fuzzy controller is reduced by information fusion technology and solved the fuzzy rules explosion problem. According to the LQR control theory to build simulation model. CXTD16 t-19.5 m double beam bridge crane is used to analogue simulation in it,the results show that：Fuzzy-LQR control the decoupling of thecrane trolley and cart movement or the joint movement can achieve the purpose of anti-swing control.

关 键 词：桥式起重机 防摆控制 Fuzzy-LQR控制 LQR 模糊控制 

分 类 号：TH16[机械工程—机械制造及自动化]