基于改进双闭环模糊PID控制算法的桥式起重机控制系统  

Overhead crane control system based on improved dual-loop fuzzy PID control algorithm

作　　者：张友渊 刘丽桑 柯程扬 梁景润 郭凯琪 ZHANG Youyuan;LIU Lisang;KE Chengyang;LIANG Jingrun;GUO Kaiqi(School of Electronic,Electrical Engineering and Physics,Fujian University of Technology,Fuzhou 350118,China;Industrial Integrated Automation Industry Technology Development Base of Fujian Province,Fuzhou 350118,China)

机构地区：[1]福建理工大学电子电气与物理学院,福建福州350118 [2]福建省工业集成自动化行业技术开发基地,福建福州350118

出　　处：《福建理工大学学报》2024年第3期258-266,共9页JOURNAL OF FUJILAN UNIVERSITY OF TECHNOLOGY

基　　金：福建省科技厅高校产学研合作项目(2022H6005)。

摘　　要：针对起重机在吊装作业时产生的负载摇摆以及行车定位的问题,提出了一种改进双闭环模糊PID控制算法,利用拉格朗日方程建立工业起重机防摇摆及行车定位控制系统数学模型。将该算法运用在建立的模型中,并在Simulink仿真平台上分别设计了PID控制系统、模糊PID控制系统和改进双闭环模糊PID控制系统进行对比实验。仿真实验的结果表明,与PID控制系统以及模糊PID控制系统相比,改进双闭环模糊PID控制系统对摆角的抑制能力分别提高了32.6%、16.5%,对小车的位置调节时间分别减少了5.442、2.743 s,且无超调量。改进双闭环模糊PID控制系统的精确性更好、稳定性更强,可以更好地满足桥式起重机系统的控制要求。To address the issue of load swing and crane positioning during lifting operations of cranes,an improved dual-loop fuzzy PID control algorithm is proposed.The mathematical model for the industrial crane anti-swing and crane positioning control system is established using the Lagrangian equation.This algorithm is applied to the constructed model,and PID control systems,fuzzy PID control systems,and an improved dual-loop fuzzy PID control system are designed on the Simulink simulation platform for comparative experiments.Simulation results indicate that the improved dual-loop fuzzy PID control system exhibits a 32.6%and 16.5%increase in suppression capability for swing angles in comparison with the PID control system and fuzzy PID control system,respectively.The adjustment time for the position of the trolley is reduced by 5.442 s and 2.743 s,respectively,with no overshoot.The improved dual-loop fuzzy PID control system demonstrates better accuracy and stability,meeting the control requirements of the bridge crane system more effectively.

关 键 词：桥式起重机 防摇摆控制 模糊PID控制 Matlab 拉格朗日方程 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]