基于WOA算法的串级模糊PID吊车控制  

Crane control under cascade fuzzy PID control based on WOA algorithm optimization

作　　者：李仕华 吕世宁 张广辉 王爱红[1] 李卓 高有山[1] Li Shihua;Lv Shining;Zhang Guanghui;Wang Aihongg;Li Zhuo;Gao Youshan(College of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《国外电子测量技术》2023年第12期86-93,共8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)(20171006);山西省专利推广实施专项(20171064校)资助。

摘　　要：为了同时解决吊车在复杂工况下运行时负载的摇摆问题和小车定位问题,设计了一种基于鲸鱼优化算法(WOA)优化的吊车串级模糊PID控制系统。根据吊车动力学结构特征,将吊车系统分为内外两个子系统进行串级控制,保证了内部独立性的同时,又加强了系统的抗干扰能力。考虑到WOA算法调节参数少,寻优能力强的特点。设计出了一种对吊车控制系统的内部参数(量化因子、比例因子)进行在线自整定的控制策略,解决了该类参数以往严重依赖于人工试凑法调整的缺陷,使得控制系统的性能达到了最优。通过设计传统PID吊车控制系统、串级模糊PID系统、以及设计传统PSO算法优化的吊车系统作为对比,实验结果证明,基于WOA算法控制的串级模糊PID吊车控制策略更好,具体表现在其对负载的消摆作用更好,同时吊车的小车定位时间更短,超调量等各项性能指标更出色。还设置了不同吊装高度的变绳长实验,表明所提出的控制系统对参数变化不敏感,可直接移植于不同的吊车系统,具有广泛的适用性。So as to concurrently cope with the issues of load swing and trolley positioning as the crane operates under complex working conditions,a crane cascade fuzzy PID control system based on WOA algorithm optimization was suggested.According to the dynamic structural characteristics of the crane,the crane system is divided into two subsystems for cascade control,which ensures internal independence and strengthens the system's anti-interference ability.Considering that the WOA algorithm enjoys the characteristics of less adjustment parameters and strong optimization ability.This study designed a control strategy for online self-tuning of the internal parameters(quantification factor,proportion factor)of the crane control system,which solved the defect of relying heavily on manual trial and error adjustment for these parameters in the past,and achieved optimal performance of the control system.By comparing the design of traditional PID crane control system,cascade fuzzy PID system,and crane system optimized by traditional PSO algorithm,the experimental results exhibits that the cascade fuzzy PID crane control strategy based on WOA algorithm control designed in this study is better,which is manifested in its better anti swing effect on load,shorter positioning time of the crane's trolley,and better performance indicators such as overshoot.This study also conducted variable rope length experiments at different lifting heights,indicating that the control system proposed in this study is not sensitive to parameter changes and can be directly transplanted to different crane systems,withwideapplicability.

关 键 词：吊车 PID控制 WOA 量化因子 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]