摘要
为了使桥式起重机精确到达预期位置,并有效消除负载的残余振荡,该文采取了一种模糊PID控制策略。由Lagrange方程推导出起重机动力学模型的状态方程,并根据起重机的输入输出特性,建立了相应的PID控制器和参数配置。运用模糊控制思想,在PID控制器原本的参数配置上添加新的增量参数,达到最优PID参数在线自整定的目的。在Simulink中搭建了模糊PID防摆控制系统仿真模型,仿真结果显示,相比于PID控制系统,该控制系统的定位时间加快了3 s,负载摆角的最大幅度降低了57%,负载摆角的稳定时间缩短了25%,并且具有较好的控制精度和鲁棒性。
In order to make the bridge crane reach the expected position accurately and eliminate the residual vibration of the load effectively,a fuzzy PID control strategy is adopted. The state equation of the crane dynamic model was derived from the Lagrange equation,and the corresponding PID controller and parameter configuration were established according to the input and output characteristics of the crane. By using fuzzy control idea,new incremental parameters are added to the original parameter configuration of PID controller to achieve the goal of optimal PID parameters online self-tuning. The simulation model of fuzzy PID anti-pendulum control system was built in Simulink.The simulation results show that,compared with the PID control system,the positioning time of the control system is3 s earlier,the load pendulum angle is reduced by 57% at the most,and the load pendulum angle stabilization time is reduced by 25%. Moreover,the control system has better control accuracy and robustness.
作者
汪涛
黄崇莉
于洋
潘晓阳
WANG Tao;HUANG Chong-li;YU Yang;PAN Xiao-yang(School of Mechanical Engineering,Shaanxi University of Technology,Hanzhong 723000,China)
出处
《自动化与仪表》
2022年第1期30-35,共6页
Automation & Instrumentation
基金
陕西省重点研发计划项目(2020GY-120)。
