桥式起重机定位和消摆的非线性优化PID控制研究

发布时间：2018-08-16 16:24

【摘要】：为了提高桥式起重机有效防摆、快速消摆的能力和工作效率,以桥式起重机的定位和消摆控制为研究对象,在分析了桥式起重机小车运行物理模型的基础上,根据拉格朗日方程建立了桥式起重机运动的非线性数学模型。针对桥式起重机模型的非线性和不确定性,提出了一种基于非线性优化PID控制器的桥式起重机消摆控制方法。该方法采用基于非线性优化双闭环结构PID控制器,其内环为摆角环实现消摆,外环为位置环实现位置准停。由仿真结果可知,基于非线性优化PID控制器可以在位置很小的超调下迅速达到指定位置,同时消除摆动,较好的实现了控制目标。与常规PID控制器相比,位置环和摆角环非线性优化PID控制器取得了较好的消摆效果,响应速度快,稳态精度更高,并且当吊重质量和绳长发生改变时,系统仍有较强的鲁棒性。
[Abstract]:In order to improve the ability and working efficiency of effective anti-swing and quick anti-swing of bridge crane, the positioning and anti-swing control of bridge crane is taken as the research object. Based on the analysis of the physical model of bridge crane trolley operation, According to Lagrange equation, the nonlinear mathematical model of bridge crane motion is established. Aiming at the nonlinearity and uncertainty of the bridge crane model, a nonlinear optimal PID controller is proposed to control the swaying of the bridge crane. In this method, a double closed loop PID controller based on nonlinear optimization is used. The inner loop is a pendulum ring to eliminate the pendulum, and the outer loop is a position loop to realize the position quasi stop. The simulation results show that the PID controller based on nonlinear optimization can quickly achieve the specified position with small overshoot, and eliminate the swing, so that the control goal can be achieved well. Compared with the conventional PID controller, the position loop and the pendulum loop nonlinear optimization PID controller have better anti-swing effect, the response speed is faster, the steady-state precision is higher, and the system still has strong robustness when the lifting weight and rope length change.
【作者单位】：武汉科技大学机械自动化学院;
【基金】：高等学校博士学科点专项科研基金(20124219120001)
【分类号】：TH215

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