基于PID-LQR的起重机系统防摇控制研究

发布时间：2018-01-27 15:58

本文关键词： 起重机防摆线性二次型最优控制 PID-LQR PLC　出处：《东华大学》2017年硕士论文　论文类型：学位论文

【摘要】：起重机的摇摆现象,不仅不利于运输,而且增加了安全隐患,严重影响工作效率。为了保证安全生产,提高工作效率,本文对起重机系统的摇摆现象进行研究。本文利用贝加莱公司提供的起重机防摇实验装置对起重机防摇控制进行研究,建立了起重机动力学模型,然后采用PID-LQR算法对起重机系统进行控制,在Automation Studio里通过C语言编程实现了算法控制,并在实验装置上进行了验证。采用机理建模的方式,通过拉格朗日方程建立了起重机系统的动力学模型,再结合起重机工作过程中产生的具体情况,作出一些必要假设,忽略了风力、空气阻力、摩擦力等因素的影响,由此将动力学模型进一步简化,得到起重机系统的传递函数与状态方程;采用实验建模法,得到了起重机小车速度与吊重摆角的关系;最后将起重机系统等效模型进行特性分析,说明了系统的稳定性,其状态可观可控。采用线性二次型最优控制算法(LQR,linear quadratic regulator)对起重机系统进行防摇设计。为了优化控制性能,结合经典PID算法,设计了既有状态反馈又有输出反馈的PID-LQR控制器,实现了对小车的运动状态和吊重摆角的控制。对参数进行整定,最终获得控制效果最优的一组参数。通过MATLAB仿真,验证了算法的合理性。最后在起重机防摇实验装置上,通过Automation Studio软件进行了LQR和PID-LQR两种算法的C语言编程和人机界面的设计,通过PLC实现了对起重机防摇实验装置的控制。实验结果表明,PID-LQR控制器性能良好,消摆能力强,系统平均调节时间为1.1s,位置超调控制在1%以内。
[Abstract]:The rocking phenomenon of crane is not only unfavorable to transportation, but also increases the hidden danger of safety, which seriously affects the work efficiency, in order to ensure the safety of production and improve the working efficiency. In this paper, the rocking phenomenon of crane system is studied, and the crane anti-rolling control is studied by using the anti-rolling experimental device provided by Baigale Company, and the crane dynamic model is established. Then the crane system is controlled by PID-LQR algorithm, and the algorithm control is realized by C language programming in Automation Studio. The dynamic model of crane system is established by Lagrangian equation, and then combined with the concrete situation of crane working process. Some necessary assumptions are made, and the influence of wind force, air resistance and friction are ignored, so the dynamic model is further simplified and the transfer function and state equation of crane system are obtained. Using the method of experimental modeling, the relationship between the speed of the crane trolley and the swing angle of the crane is obtained. Finally, the equivalent model of crane system is analyzed, and the stability of the system is explained. The state of the system is controllable and observable. The linear quadratic optimal control algorithm is used to control the LQR. In order to optimize the control performance, the linear quadratic regulator is used to design the anti-rolling crane system. The classical PID algorithm is used to optimize the control performance. The PID-LQR controller with both state feedback and output feedback is designed to control the motion state and the hoisting angle of the trolley. The parameters are adjusted. Finally, the optimal control effect of a set of parameters. Through MATLAB simulation, verify the rationality of the algorithm. Finally, on the crane anti-rolling experimental device. C language programming and man-machine interface design of LQR and PID-LQR algorithms are carried out by Automation Studio software. The experiment results show that the PID-LQR controller has good performance, strong anti-swing ability, and the average adjusting time of the system is 1.1 seconds. The position overshoot is limited to 1%.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273;TH21

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