一种基于模糊控制的岸边集装箱起重机防摇策略  

An anti-swing strategy of quayside crane based on fuzzy control

作　　者：秦仙蓉[1] 王玉龙 郝婼兰 张氢[1] 孙远韬[1] Qin Xianrong;Wang Yulong;Hao Ruolan;Zhang Qing;Sun Yuantao

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《起重运输机械》2021年第11期41-45,共5页Hoisting and Conveying Machinery

基　　金：国家科技支撑计划课题资助(2015BAF06B05);上海市科委成果转化项目资助(15DZ1161203)。

摘　　要：基于模糊控制的基本原理,设计出混合控制系统实现了岸边集装箱起重机的防摇控制。首先建立系统的简化力学模型,选定控制方式,设计出控制策略,然后建立混合控制系统,设计模糊控制器,并通过Matlab—Simulink工具箱进行仿真,分析系统控制效果,最后建立双PD控制系统,并将其仿真结果与混合控制系统进行对比。结果表明:混合控制系统和双PD控制系统可以达到同样好的控制效果,同时混合控制系统更快达到稳定,模糊控制具有有效性和优越性。Based on the basic principle of fuzzy control,a hybrid control system is designed for anti-swing control of quayside container cranes.Firstly,a simplified mechanical model of the system was established,the control mode and control strategy were selected,and then a hybrid control system was established.A fuzzy controller was designed,and the control effect of the system was analyzed by using Matlab-Simulink toolbox.Finally,a dual PD control system was established,whose simulation results were compared with these of the hybrid control system.Results show that both hybrid control system and double PD control system can achieve better control effect,in which the hybrid control system takes less time to achieve stability,while fuzzy control is effective and superior.

关 键 词：岸边集装箱起重机 防摇 模糊控制 系统仿真 

分 类 号：TH213[机械工程—机械制造及自动化]