基于粒子群算法的桥式起重机模糊PID防摇控制  

Fuzzy PID Anti-sway Control of Bridge Crane Based on Particle Swarm Algorithm

作　　者：卜凡舟 孙玉国[1] 卢凤娇 BO Fanzhou;SUN Yuguo;LU Fengjiao(School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《船舶与海洋工程》2022年第4期10-14,共5页Naval Architecture and Ocean Engineering

基　　金：太仓市科技计划项目(TC2017DYDS14)。

摘　　要：为解决桥式起重机起吊过程中存在的吊重摇摆问题,对起重机防摇控制算法进行研究,提出一种基于粒子群算法的模糊PID(Proportion Integral Differential)防摇控制方法。当起重机的驱动力相同时,以吊重的停摆时间和最大摆幅为优化指标,分别采用粒子群模糊PID算法和传统的PID算法进行防摇控制仿真。仿真结果表明:与传统的PID防摇算法相比,粒子群模糊PID防摇算法在快速性、稳定性和鲁棒性等方面的表现均有显著改善。In order to solve the problem of lifting load sway in the lifting process of bridge crane,the anti-sway control algorithm of the crane is studied,and a fuzzy PID(Proportion Integral Differential)anti-sway control method based on the particle swarm algorithm is proposed.The stopping time and maximum sway amplitude under the same crane driving force are taken as the optimization object to carry out the anti-sway control simulations based on the particle swarm fuzzy PID and the traditional PID algorithms.The simulation results show that the particle swarm fuzzy PID anti-sway algorithm can significantly improve the rapidity,stability and robustness compared with the traditional PID anti-sway algorithm.

关 键 词：桥式起重机 防摇控制 粒子群算法 模糊PID 

分 类 号：TH215[机械工程—机械制造及自动化]