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
张友渊 1刘丽桑 1柯程扬 1梁景润 1郭凯琪1
作者信息
- 1. 福建理工大学 电子电气与物理学院,福建 福州 350118;福建省工业集成自动化行业技术开发基地,福建 福州 350118
- 折叠
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.
Abstract
To address the issue of load swing and crane positioning during lifting operations of cranes,an im-proved 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 ap-plied 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Key words
overhead crane/anti-swing control/fuzzy PID control/Matlab/Lagrange equation引用本文复制引用
基金项目
福建省科技厅高等学校产学研合作项目(2022H6005)
出版年
2024
NETL
NSTL
万方数据