基于模糊PID的桥式起重机防摆控制研究
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摘要
随着生产力水平的提高,桥式起重机作为重要的搬运工具在社会生产中起到越来越重要的作用,广泛应用在工厂、水电站、码头、仓库等各个领域。然而,起重机在作业过程中极易引起吊重的摆动,引发安全事故。因此,为了提高桥式起重机的安全性和可靠性,提高生产效率,有效地抑制起重机的吊重摆动是非常必要的。
本文利用Lagrange方程建立了桥式起重机的非线性数学模型,在此基础上应用线性二次型LQR和常规PID控制方法研究了起重机的吊重摆动机理,经过对仿真结果的分析,得知这两种方法具有一定的局限性。同时,论文在对模糊控制理论研究的基础上,将模糊控制和PID控制技术相结合,完成了基于模糊自整定PID防摆控制器的设计,并在MATLAB/Simulink中进行了仿真分析。通过仿真结果分析,位置环采用模糊PID控制器,摆角环采用模糊控制器取得了较好的防摆效果,响应速度快,稳态精度高,在小车精确定位后,吊重摆动时间不超过五秒。并且在绳长和吊重质量发生改变时,系统仍有较好的鲁棒性。
在完成了模糊PID防摆控制器设计的基础上,充分利用原有的电气元件,增加了吊重高度检测、小车位置检测和摆角检测,设计了桥式起重机吊重防摆控制系统,并采用西门子公司STEP 7-micro/win32作为软件编程环境,进行了控制系统的调试。实验调试结果表明该方案运行可靠,具有良好的控制效果。
With the improvement of productivity, bridge crane as an important handling tool in social production plays an increasingly important role. It is widely used in factories, hydropower station, port, warehouse and so on. However, the crane is apt to cause payload oscillation in operation process, which can cause accidents. Therefore, in order to improve safety and reliability of bridge crane and increase productivity, it is very necessary to control the swing of bridge crane’s payload.
This paper establishes a nonlinear mathematical model of bridge crane using the Lagrange Equation; also it uses the conventional PID and LQR optimal control methods in study and simulation for bridge crane ant-swing based on the nonlinear mathematical model. The simulation shows that both methods have some limitations. At the same time, the paper introduces design process of fuzzy self-tuning PID controller with combing the conventional PID control and fuzzy control which is studied based on fuzzy control mechanism, and MATLAB/Simulink simulation was carried out. The Simulink experiment proves that location fuzzy PID controller and angle fuzzy controller show the good anti-swing effect. The two controllers not only improve response speed times but also improve control accuracy. The payload oscillation swing time is not more than five seconds when the car stops. Moreover, the system has better robust when the length of rope and mass of load changing.
The paper builds the bridge anti-swing control system make full use of the original electrical components based on the design of fuzzy PID anti-swing controller, just adds only lifting height detection, car position detection and load angle detection. Also, it completes debugging of the control system by using the software programming environment of Siemens STEP 7-micro/win32. Debugging results show that the design is reliable, and has good control effect.
本文利用Lagrange方程建立了桥式起重机的非线性数学模型,在此基础上应用线性二次型LQR和常规PID控制方法研究了起重机的吊重摆动机理,经过对仿真结果的分析,得知这两种方法具有一定的局限性。同时,论文在对模糊控制理论研究的基础上,将模糊控制和PID控制技术相结合,完成了基于模糊自整定PID防摆控制器的设计,并在MATLAB/Simulink中进行了仿真分析。通过仿真结果分析,位置环采用模糊PID控制器,摆角环采用模糊控制器取得了较好的防摆效果,响应速度快,稳态精度高,在小车精确定位后,吊重摆动时间不超过五秒。并且在绳长和吊重质量发生改变时,系统仍有较好的鲁棒性。
在完成了模糊PID防摆控制器设计的基础上,充分利用原有的电气元件,增加了吊重高度检测、小车位置检测和摆角检测,设计了桥式起重机吊重防摆控制系统,并采用西门子公司STEP 7-micro/win32作为软件编程环境,进行了控制系统的调试。实验调试结果表明该方案运行可靠,具有良好的控制效果。
With the improvement of productivity, bridge crane as an important handling tool in social production plays an increasingly important role. It is widely used in factories, hydropower station, port, warehouse and so on. However, the crane is apt to cause payload oscillation in operation process, which can cause accidents. Therefore, in order to improve safety and reliability of bridge crane and increase productivity, it is very necessary to control the swing of bridge crane’s payload.
This paper establishes a nonlinear mathematical model of bridge crane using the Lagrange Equation; also it uses the conventional PID and LQR optimal control methods in study and simulation for bridge crane ant-swing based on the nonlinear mathematical model. The simulation shows that both methods have some limitations. At the same time, the paper introduces design process of fuzzy self-tuning PID controller with combing the conventional PID control and fuzzy control which is studied based on fuzzy control mechanism, and MATLAB/Simulink simulation was carried out. The Simulink experiment proves that location fuzzy PID controller and angle fuzzy controller show the good anti-swing effect. The two controllers not only improve response speed times but also improve control accuracy. The payload oscillation swing time is not more than five seconds when the car stops. Moreover, the system has better robust when the length of rope and mass of load changing.
The paper builds the bridge anti-swing control system make full use of the original electrical components based on the design of fuzzy PID anti-swing controller, just adds only lifting height detection, car position detection and load angle detection. Also, it completes debugging of the control system by using the software programming environment of Siemens STEP 7-micro/win32. Debugging results show that the design is reliable, and has good control effect.
引文
[1]张应力,周玉华.桥式起重机安全技术[M].北京:中国石化出版社,2007.
[2]王克奇.桥式起重机的定位和防摆控制研究[J].系统仿真学报,2007,19(8):1799-1802.
[3]马建智.从辽钢事故论冶金起重机[J].机械管理开发,2008,24(2):124-125.
[4]华克强,高淑玲.吊车防摆技术的研究[J].控制理论与应用,1992,9(6):631-637.
[5]齐伯文,张广春.塔式起重机智能控制系统的最优反馈控制[J].哈尔滨建筑工程学院学报,1995,28(1):90-94.
[6]李伟.起重机消摆对策[J].山东建筑工程学报,1998,13(3):41-46.
[7]邹军,陈志坚.桥式起重机抓斗的防摆控制[J].山东大学报,1999,34(1):58-62.
[8]汪培庄,张洪敏. Fuzzya推理机与真值流推理[J].模糊系统与数学,1992,6(2):1-8.
[9]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究[J].系统仿真学报, 2005,17(4):936-939.
[10]屈福政,孙铁兵,牛治刚,王欣.大型起重机的智能化电子控制系统[J].起重运输机械, 2004,(3):25-27.
[11]李芃,曾昭龙,李文秀.舰载起重机的智能控制系统及仿真研究[J].系统仿真学报,2004, 16(4):791-793.
[12] Benhidjeb A., Gissinger G.L.. Fuzzy Control of an Overhead Crane Performance Comparision with Classic Contro1. Control Engineering Practice, 1995, 3(12):1687-1696.
[13] Nowaeki Z., owezarz D.. On the Roustness of Fuzzy Control of an Overhead rane.Proceedings of the IEEE International Symposium on Industrial Electronics,1996:433-437.
[14] Ho-Noon Lee, Sung-Kun Choi, A New Fuzzy-Logic Anti-Swing Control for Indusial Three-Dimensional Overhead Cranes[J]. Proceedings of the 2001 IEEE International Conference on Robotics&Automation Seoul, Korea, May 21-26, 2001.
[15]张晶.起重机吊重防摇控制研究及控制卡的设计[D].成都:西南交通大学,2008.
[16]苏晴.集装箱起重机动力学分析及防摇控制研究[D].上海:同济大学机械工程学院, 2008.
[17] J. J. Rubio-Avila, R. Alcantara-Ramirez, J. Jaimes-Ponce, I. I. Siller-Alcala. Design, construction, and control of a novel tower crane. International journal of mathematics and computers in simulation, 2007,1(2):119-126.
[18]黄凯.起重机自适应智能防摆控制方法及其仿真研究[D].南京:南京林业大学,2007.
[19]王玥媛.基于模糊控制的桥式起重机防摆研究[D].大连:大连理工大学,2008.
[20]丁海港,赵继云,张德生.基于LQR的小车-倒摆闭环控制系统研究[J].煤矿机械,2008, 29(11):124-126.
[21]王晓军,邵惠鹤.基于输入整形的线性二次型调节器及其应用[J].上海交通大学学报, 2006,40(5):848-955.
[22]夏红.神经网络PID[J].信息与控制,1996,25(3):13-15.
[23] K.J.Astrom, T.Hagglund. PID Controllers: Theory, Design and Tuning. North arolina. Instrument Society of America, 1995.12-25.
[24]戴明宏,安文秀.基于PID控制的变频调速起重机[J].起重运输机械,2008,(4):14-16.
[25]曾光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
[26]席爱民.模糊控制技术[M].西安:西安电子科技大学出版社,2008.
[27]梁保松,曹殿立.模糊数学及其应用[M].北京:科学出版社,2007.
[28]王宏,黎亚元,陈守强,姚悠然.起重机模糊控制系统的研究[J].机电工程技术,2006, 35(9):18-20.
[29]蒋理,陈树广.基于模糊控制的桥式起重机定位防摆研究[J].计算机仿真,2009,26(6): 179-182.
[30]但堂咏.岸边桥式起重机智能防摇机理研究[D].武汉:武汉理工大学,2005.
[31]王正林,王胜开,陈国顺. MATLAB/Simulink与控制系统仿真[M].北京:电子工业出版社,2005.
[32]姜兴华,尹志宇,郭晴.一种模糊自整定PID控制器的设计与仿真[J].河北师范大学学报(自然科学版),2009,33(4):448-450.
[33]马晓虹.一种模糊自适应PID控制器的设计[J].大庆师范学院学报,2009,29(3):37-39.
[34]禹建丽,张宗伟,杨用增.基于自适应模糊神经网络的起重机吊摆防摇控制[J].电气自动化,2009,31(2):28-32.
[35]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2003.
[36]樊京,刘叔军,盖晓华,崔世林. MATLAB控制系统应用与实例[M].北京:清华大学出版社,2008.
[37]王永光.基于倒立摆系统的控制方法研究[D].西安:西安电子科技大学,2009.
[38]杨立秋,宋立忠.基于模糊控制的船用起重机消摆控制[J].船电技术,2010,30(5):26-29.
[39]胡艳丽,董爱华. PLC与变频器在桥式起重机控制系统改造中的应用[J].自动化博览, 2009,(5):86-88.
[40]脱建智.最优输入整形抑制桥式起重机载荷摆动研究[D].济南:山东建筑大学,2009.
[41]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子S7-200PLC [M].北京:北京航空航天大学出版社,2007.
[42]潘晓宁,郝晓鸿,张振武. PROFIBUS-DP工控网的通讯原理[J].电气传动,1999,(5): 25-28.
[43]薛鹏,朱立,王毅.变频器和PLC在大型起重机控制中的应用[J].电气应用,2008,27(24): 28-30.
[44] Benhidjeb A, Gissinger G L. Fuzzy control of Overhead Crane Performance Comparisons with Classic Control[J]. Control Engineering Practice, 1995,3(12):1687-1696.
[45]李伟,李超,逯强.基于图像的起重机载荷摆角测量方法的研究[J].山东建筑大学学报, 2008,23(5):423-430.
[46]李伟,李超,王滨,逯强,李远达.随机预估法检测起重机载荷摆角[J].电气传动,2009, 39(9):45-48.
[47]章程.基于PLC模糊控制的桥式起重机变频调速系统的研究[D].成都:西南交通大学, 2008.
[2]王克奇.桥式起重机的定位和防摆控制研究[J].系统仿真学报,2007,19(8):1799-1802.
[3]马建智.从辽钢事故论冶金起重机[J].机械管理开发,2008,24(2):124-125.
[4]华克强,高淑玲.吊车防摆技术的研究[J].控制理论与应用,1992,9(6):631-637.
[5]齐伯文,张广春.塔式起重机智能控制系统的最优反馈控制[J].哈尔滨建筑工程学院学报,1995,28(1):90-94.
[6]李伟.起重机消摆对策[J].山东建筑工程学报,1998,13(3):41-46.
[7]邹军,陈志坚.桥式起重机抓斗的防摆控制[J].山东大学报,1999,34(1):58-62.
[8]汪培庄,张洪敏. Fuzzya推理机与真值流推理[J].模糊系统与数学,1992,6(2):1-8.
[9]王晓军,邵惠鹤.基于模糊的桥式起重机的定位和防摆控制研究[J].系统仿真学报, 2005,17(4):936-939.
[10]屈福政,孙铁兵,牛治刚,王欣.大型起重机的智能化电子控制系统[J].起重运输机械, 2004,(3):25-27.
[11]李芃,曾昭龙,李文秀.舰载起重机的智能控制系统及仿真研究[J].系统仿真学报,2004, 16(4):791-793.
[12] Benhidjeb A., Gissinger G.L.. Fuzzy Control of an Overhead Crane Performance Comparision with Classic Contro1. Control Engineering Practice, 1995, 3(12):1687-1696.
[13] Nowaeki Z., owezarz D.. On the Roustness of Fuzzy Control of an Overhead rane.Proceedings of the IEEE International Symposium on Industrial Electronics,1996:433-437.
[14] Ho-Noon Lee, Sung-Kun Choi, A New Fuzzy-Logic Anti-Swing Control for Indusial Three-Dimensional Overhead Cranes[J]. Proceedings of the 2001 IEEE International Conference on Robotics&Automation Seoul, Korea, May 21-26, 2001.
[15]张晶.起重机吊重防摇控制研究及控制卡的设计[D].成都:西南交通大学,2008.
[16]苏晴.集装箱起重机动力学分析及防摇控制研究[D].上海:同济大学机械工程学院, 2008.
[17] J. J. Rubio-Avila, R. Alcantara-Ramirez, J. Jaimes-Ponce, I. I. Siller-Alcala. Design, construction, and control of a novel tower crane. International journal of mathematics and computers in simulation, 2007,1(2):119-126.
[18]黄凯.起重机自适应智能防摆控制方法及其仿真研究[D].南京:南京林业大学,2007.
[19]王玥媛.基于模糊控制的桥式起重机防摆研究[D].大连:大连理工大学,2008.
[20]丁海港,赵继云,张德生.基于LQR的小车-倒摆闭环控制系统研究[J].煤矿机械,2008, 29(11):124-126.
[21]王晓军,邵惠鹤.基于输入整形的线性二次型调节器及其应用[J].上海交通大学学报, 2006,40(5):848-955.
[22]夏红.神经网络PID[J].信息与控制,1996,25(3):13-15.
[23] K.J.Astrom, T.Hagglund. PID Controllers: Theory, Design and Tuning. North arolina. Instrument Society of America, 1995.12-25.
[24]戴明宏,安文秀.基于PID控制的变频调速起重机[J].起重运输机械,2008,(4):14-16.
[25]曾光奇,胡均安,王东,刘春玲.模糊控制理论与工程应用[M].武汉:华中科技大学出版社,2006.
[26]席爱民.模糊控制技术[M].西安:西安电子科技大学出版社,2008.
[27]梁保松,曹殿立.模糊数学及其应用[M].北京:科学出版社,2007.
[28]王宏,黎亚元,陈守强,姚悠然.起重机模糊控制系统的研究[J].机电工程技术,2006, 35(9):18-20.
[29]蒋理,陈树广.基于模糊控制的桥式起重机定位防摆研究[J].计算机仿真,2009,26(6): 179-182.
[30]但堂咏.岸边桥式起重机智能防摇机理研究[D].武汉:武汉理工大学,2005.
[31]王正林,王胜开,陈国顺. MATLAB/Simulink与控制系统仿真[M].北京:电子工业出版社,2005.
[32]姜兴华,尹志宇,郭晴.一种模糊自整定PID控制器的设计与仿真[J].河北师范大学学报(自然科学版),2009,33(4):448-450.
[33]马晓虹.一种模糊自适应PID控制器的设计[J].大庆师范学院学报,2009,29(3):37-39.
[34]禹建丽,张宗伟,杨用增.基于自适应模糊神经网络的起重机吊摆防摇控制[J].电气自动化,2009,31(2):28-32.
[35]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2003.
[36]樊京,刘叔军,盖晓华,崔世林. MATLAB控制系统应用与实例[M].北京:清华大学出版社,2008.
[37]王永光.基于倒立摆系统的控制方法研究[D].西安:西安电子科技大学,2009.
[38]杨立秋,宋立忠.基于模糊控制的船用起重机消摆控制[J].船电技术,2010,30(5):26-29.
[39]胡艳丽,董爱华. PLC与变频器在桥式起重机控制系统改造中的应用[J].自动化博览, 2009,(5):86-88.
[40]脱建智.最优输入整形抑制桥式起重机载荷摆动研究[D].济南:山东建筑大学,2009.
[41]西门子(中国)有限公司自动化与驱动集团.深入浅出西门子S7-200PLC [M].北京:北京航空航天大学出版社,2007.
[42]潘晓宁,郝晓鸿,张振武. PROFIBUS-DP工控网的通讯原理[J].电气传动,1999,(5): 25-28.
[43]薛鹏,朱立,王毅.变频器和PLC在大型起重机控制中的应用[J].电气应用,2008,27(24): 28-30.
[44] Benhidjeb A, Gissinger G L. Fuzzy control of Overhead Crane Performance Comparisons with Classic Control[J]. Control Engineering Practice, 1995,3(12):1687-1696.
[45]李伟,李超,逯强.基于图像的起重机载荷摆角测量方法的研究[J].山东建筑大学学报, 2008,23(5):423-430.
[46]李伟,李超,王滨,逯强,李远达.随机预估法检测起重机载荷摆角[J].电气传动,2009, 39(9):45-48.
[47]章程.基于PLC模糊控制的桥式起重机变频调速系统的研究[D].成都:西南交通大学, 2008.