【摘要】 针对线性二次型最优控制(LQR)法在起重机定位防摆中存在的不足,在分析了桥式起重机小车运行物理模型的基础上,将模糊理论引入起重机定位防摆中,提出了基于模糊理论控制的思想,设计了一种基于模糊的起重机定位与防摆控制方法。通过建立隶属度函数与模糊控制规则,利用两个模糊控制器对小车的位置和负载的摆动角度分别进行控制,建立了模糊控制系统。通过与LQR仿真结果进行比较,结果表明了该方法的可行性与较好的鲁棒性。更多还原

【Abstract】 In light of the shortage of LQR for bridge crane anti-swing and position control,based on the analysis of the bridge crane wheelbarrow movement physics model,the fuzzy theory was introduced into bridge crane anti-swing and position control,and the idea of control based on fuzzy theory was put forward,a method based on fuzzy theory for anti-swing and position control was designed.By establishing the degree of membership function and fuzzy control rule,the position and laden swing were controlled by two directors,and a fuzzy control system was established.Compared with the LQR,it shows that this method is feasible and robust.更多还原