Fuzzy-PID控制在吊运100米钢轨系统中的应用

发布时间：2018-03-16 23:18

本文选题：Fuzzy控制　切入点：PID　出处：《内蒙古科技大学》2011年硕士论文　论文类型：学位论文

【摘要】：在双桥式起重机并车吊运钢轨实际运行过程中发现，对于单纯采用PID闭环网络控制的PLC“并车”系统，在系统启制动和换档的加减速过程中，两台车的同步性较差，控制的超调量大，调节的时间长，控制的效果不理想。模糊控制能够保证系统在快速响应的同时保持较小的超调量，且对被控参数变化有较强的适应能力，但却不可避免的在控制过程中存在稳态误差。本文从工程应用的角度出发，针对上述两种控制算法各自的特点，将两者有机地结合在一起，实现优势互补，提出了一种模糊PID控制在吊运100米长钢轨系统中的应用。两车相应机构位移偏差（设定一个阀值）较大时采用模糊控制，进行大范围的调节，以加快响应速度；位移偏差较小，，进入稳态过程时，由PLC根据程序判断切换到PID控制器，消除静差，提高控制的精度。保证两车吊运钢轨时尽量同步，避免长钢轨的损伤、变形、掉轨等事故的发生。论文的主要研究工作如下：在研究PID控制与模糊控制算法的原理和特性的基础上，分析两种控制方法的优点与不足，探讨了一种融合两种算法优点的新算法应用到两桥式起重机并车吊运钢轨系统中。为降低计算复杂度，使控制算法便于在PLC系统中实现，本文以成熟的PID算法与模糊控制算法为基础，设计了一种新型的模糊PID动态切换控制算法，来提高控制系统对被控对象参数变化的适应能力。两桥式起重机并车通信方式采用数传电台，网络结构采用PROFIBUS-DP总线结构，组成分布式控制系统。并且进行了硬件的搭建和软件的设计。硬件的搭建主要有硬件的选型和硬件组态；软件的编写主要有上位机的组态、PLC与PLC、及PLC与变频器之间的通信程序；PID控制程序采用STEP7自带的模块；模糊控制程序的编写采用模块化设计。
[Abstract]:In the actual running process of hoisting rail of double-bridge crane, it is found that the synchronicity of the two vehicles is poor in the process of starting and braking and gearshift acceleration and deceleration of the PLC "parallel" system, which is only controlled by PID closed loop network. The control overshoot is large, the adjustment time is long, and the control effect is not ideal. Fuzzy control can ensure the system to keep a small overshoot while responding quickly, and has a strong adaptability to the change of controlled parameters. However, it is inevitable that there is a steady state error in the control process. In this paper, from the point of view of engineering application, according to the characteristics of the two control algorithms mentioned above, we combine them organically to realize the complementary advantages. The application of fuzzy PID control in hoisting 100m long rail system is presented. When the displacement deviation of the corresponding mechanism (setting a threshold) is large, the fuzzy control is used to adjust the response speed in a wide range, and the displacement deviation is small. When entering the steady state process, the PLC switches to the PID controller according to the program judgment, eliminates the static error, improves the control precision, guarantees the two cars to hoist the rail as far as possible synchronously, avoids the long rail damage, the distortion, The main research work of this paper is as follows:. On the basis of studying the principle and characteristic of PID control and fuzzy control algorithm, the advantages and disadvantages of the two control methods are analyzed. This paper discusses the application of a new algorithm combining the advantages of two algorithms to the rail system of two-bridge crane. In order to reduce the computational complexity and make the control algorithm easy to be realized in PLC system, Based on the mature PID algorithm and fuzzy control algorithm, a new fuzzy PID dynamic switching control algorithm is designed to improve the adaptability of the control system to the parameter change of the controlled object. The communication mode of two-bridge crane parallel carriage adopts the data transmission station, and the network structure adopts the PROFIBUS-DP bus structure. The distributed control system is composed of hardware structure and software design. The hardware structure mainly includes hardware selection and hardware configuration. The software is composed of configuration PLC and PLC of upper computer, and the communication program between PLC and frequency converter. The module of STEP7 is used to control the pid control program, and the modular design of fuzzy control program is adopted.
【学位授予单位】：内蒙古科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH215

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