基于函数型伸缩因子的桥式吊车变论域模糊PID控制器设计  

Design of Fuzzy PID Controller in Variable-universe of Bridge Crane Based on Functional Contraction-expansion Factor

作　　者：邱光繁 徐进钊 邱炯智 张京玲 聂湛然 胡永刚 Qiu Guangfan;Xu Jinzhao;Qiu Jiongzhi;Zhang Jingling;Nie Zhanran;Hu Yonggang(Modrol Electric Co.,Ltd.of Jiangmen,Jiangmen,Guangdong 529000,China;Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen,Guangdong 529020,China;School of Mathematics and Computational Science,Wuyi University,Jiangmen,Guangdong 529020,China;Enping Psco Electronic Technology Co.,Ltd.,Jiangmen,Guangdong 529499,China)

机构地区：[1]江门市蒙德电气股份有限公司,广东江门529000 [2]五邑大学智能制造学部,广东江门529020 [3]五邑大学数学与计算科学学院,广东江门529020 [4]恩平帕思高电子科技有限公司,广东江门529499

出　　处：《机电工程技术》2021年第2期156-160,共5页Mechanical & Electrical Engineering Technology

基　　金：江门市科技计划项目(编号:2019JC01005,2020JC01016,2020JC01011);2019年国家级大学生创新创业项目(编号201911349002s,201911349005);广东大学生科技创新培育专项资金项目(攀登计划)(编号:pdjh2020b0494);2018年五邑大学众创空间大学生创新创业项目(编号:18KZN04);企业横向项目(编号:HX19130)。

摘　　要：针对桥式吊车的防摆定位控制问题,提出了一种基于函数型伸缩因子的桥式吊车变论域模糊PID控制方法。先根据拉格朗日方程建立桥式吊车动力学方程,然后利用模糊规则设计出模糊PID控制策略,接着通过提出新型的函数型伸缩因子使模糊PID算法获得更精准的论域控制,同时没有过多增加计算复杂度,最后用MATLAB/Simulink仿真证实方法可行性,并且与PID和模糊PID两种方法进行比较。仿真结果表明,该方法响应速度快,定位稳态精度高,且对于不同的负载质量和吊绳绳长具有较好的鲁棒性。Aiming at the problem of anti swing positioning control of overhead crane,a variable universe fuzzy PID control method based on functional expansion factor was proposed.The dynamic equation of overhead crane was established according to Lagrange equation,and then the fuzzy PID control strategy was designed by using fuzzy rules.A new functional expansion factor was proposed to make the fuzzy PID algorithm obtain more accurate universe control without too much increase of computational complexity.The feasibility of the method was verified by Matlab/Simulink simulation,and compared with PID and fuzzy PID Method.The simulation results show that the method has fast response speed,high steady-state positioning accuracy,and good robustness for different load quality and rope length.

关 键 词：防摆定位控制 函数型伸缩因子 变论域 桥式吊车 模糊PID 非线性系统 

分 类 号：TH215[机械工程—机械制造及自动化]