基于模糊PID控制的空间吊装物姿态控制  

Attitude Control of Space Hoisting Based on Fuzzy PID Control

作　　者：严睿 周惠兴 张玉品 于大海[2] 杨震卿 YAN Rui;ZHOU Hui-xing;ZHANG Yu-pin;YU Da-hai;YANG Zhen-qing(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Sixth Construction Group Co.,Ltd.,Beijing 100143,China;Beijing Construction Engineering Group,Beijing 100055,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100044 [2]北京六建集团有限责任公司,北京100143 [3]北京建工集团有限责任公司,北京100055

出　　处：《科学技术与工程》2023年第11期4702-4708,共7页Science Technology and Engineering

基　　金：住房和城乡建设部研究项目(2020-k-150);北京市建筑安全监测工程技术研究中心项目(H21175)。

摘　　要：针对在装配式房屋建造过程中,房屋构件及其姿态只能依靠人力才能够准确地调整到目标位置,不仅工作效率低且容易造成人员伤亡的问题。对空间吊装物姿态位置控制进行了研究。将角动量交换原理运用到空间吊装物姿态控制上,通过改变飞轮速度与加速度达到控制空间吊装物绕吊装线水平旋转角度姿态的目的。介绍了飞轮动力系统,推导了整个实验装置的动力学方程和运动学方程。考虑到被控对象吊装物负载经常改变,设计了模糊PID(proportional integral derivative)控制器,使控制效果达到最佳。首先对控制算法进行了Simulink仿真研究,然后在搭建的实验装置上进行了实验。实验结果表明,能够实现空间吊装物姿态位置控制,且模糊PID控制更适合于实际控制。During the construction of prefabricated houses,the building components and their posture can only be accurately adjusted to the target position by manpower,which not only has low work efficiency but also easily causes casualties.In view of the problem,the position control of the objects being hoisted was studied,and the angular momentum exchange principle to the position control of the objects being hoisted was applied.By changing the speed and acceleration of the flywheel,the horizontal rotation angle of the objects being hoisted could be monitored.The flywheel system was introduced,and the dynamic equations and kinematic equations of the whole experimental device was introduced.Considering that the load of the objects being hoisted varies,a fuzzy PID(proportional integral derivative)controller was designed to achieve the best control effect.Simulink simulation research on the control algorithm was carried out first,and then the experiment was carried out on the experimental device built.The experimental results show that the position control of the objects being hoisted can be realized,and the fuzzy PID control is more suitable for control in real situations.

关 键 词：模糊控制 PID 角动量交换 姿态控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]