改进模糊PID控制算法的起重机吊重消摆及行车定位控制系统  

Improved fuzzy PID control algorithm for crane load swing elimination and crane trolley positioning control system

作　　者：李仕华 周继红[2] 牛雪梅[1] 姚峰林[1] 王爱红[1] 高有山[1] Li Shihua;Zhou Jihong;Niu Xuemei;Yao Fenglin;Wang Aihong;Gao Youshan(College of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Taiyuan Heavy Industry Co.,Ltd.,Taiyuan 030027,China)

机构地区：[1]太原科技大学机械工程学院,太原030024 [2]太原重工股份有限公司,太原030027

出　　处：《国外电子测量技术》2023年第5期180-186,共7页Foreign Electronic Measurement Technology

基　　金：山西省自然科学基金(20210302123217);山西省回国留学人员科研项目(2020-124);太原科技大学大学生创新创业训练计划(XJ-2022178)项目资助。

摘　　要：对于起重机在吊装作业时产生的负载摇摆以及行车定位问题,利用Lagrange方程建立了吊重系统模型,提出了一种在线自动整定比例因子的自适应比例因子模糊PID控制方法,在Simulink仿真平台上分别设计了PID控制,模糊PID控制和自适应比例因子模糊PID控制系统,同时采用LQR控制方法进行对比。通过设置对比实验和鲁棒性实验,实验结果表明,所设计的控制系统对摆角的抑制能力相比于LQR控制、PID控制以及模糊PID控制系统,分别提高了40.3%、24.4%、4.5%,且在其控制下的起重机小车可实现零超调量下的平稳定位。In view of the safety problem of lifting weight sway and trolley positioning problems during the lifting operation of the bridge crane,we have used Lagrange equation to set up model of the lifting weight system,and proposing an adaptive scale factor fuzzy PID control method with online automatic adjustment scale factor.PID control,fuzzy PID control,and adaptive scale factor fuzzy PID controller are constituted through Simulink,and the method of LQR is used for comparison.Through comparative experiments and robustness experiments,the results demonstrate that the effect of the controller suggested in this paper on the control of swing angle is improved by 40.3%,24.4%and 4.5%respectively in contrary to the tactic of LQR,PID control and fuzzy PID control,and the crane trolley under its control can achieve stable positioning under zero overshoot.

关 键 词：桥式起重机 防摇摆控制 模糊PID控制 比例因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]