【作者】 陈赛；

【导师】 余强；

【作者基本信息】 东北大学 ， 控制理论与控制工程， 2019， 硕士

【摘要】 随着工业及运输业的飞速发展,桥式起重机已被应用到生活的各个方面。起重机运输过程中出现的吊重摆动现象既对运输效率产生了严重影响,也对现场人员的安全造成了威胁。如今现场普遍使用的机械式防摇方法效果并不理想,为更好的研究起重机系统的防摇问题,本文设计了一套防摇控制实验系统,并对防摇控制算法展开研究。根据运输过程中起重机的运行特点,本文首先抽象出防摇实验系统的模型,接着采用拉格朗日方程对其进行数学建模,建立实验系统的数学模型,并依据系统的空间状态方程研究了系统的稳定性、能控性和能观性。在Simulink中对实验系统模型进行仿真研究,分析如何抑制吊重摇摆。在防摇控制算法的研究中,本文首先设计常规PID控制器、双闭环PID控制器和模糊自适应PID控制器对实验系统进行仿真分析。实验结果表明,常规和双闭环PID控制算法的效果基本可以满足控制系统要求,但对吊重参数变化敏感,摆角过大。模糊自适应PID控制器虽然对于摆角的控制有了较好的提升,但是实现时需要单独的模糊控制器,运算时间随精度提高而增加,对CPU要求较高。在现代最优控制理论中,LQR(Linear Quadratic Regulator)算法具有很好的抗干扰性和鲁棒性,并且在工程上易于实现,因此本文综合传统PID控制算法和现代LQR算法的优点设计了基于LQR-PID的防摇控制器,并采用单纯形法优化控制器参数。经仿真研究该算法响应曲线的动态性能与模糊自适应PID控制器相比较有了一定的提升,对减小吊重摆动具有更加良好的效果,验证了算法的合理性。最后,完成了防摇控制实验系统的硬件、软件设计,利用AS(Automation Studio)软件完成了组态界面的设计,以及LQR和LQR-PID两种控制算法的编程,通过PLC实现了对实验系统的防摇控制。实验结果表明,LQR-PID控制器具有良好的动态性能,较强的消摆能力,系统平均调节时间约为3s,位置误差小于1%,摆角小于10°。更多还原

【Abstract】 With the rapid development of the industry and transportation,bridge cranes have been applied to all aspects of life.However,the phenomenon of sway during the transportation of cranes has a serious impact on transportation efficiency and poses a threat to the safety of the personnel on site.The mechanical anti-swing method commonly used in the field is not ideal.For better research on anti-swing problems of the crane,in this paper,we design a set of anti-swing control experimental system and study the anti-swing control algorithms.According to the running characteristics of the bridge crane,we first abstract the model of the anti-swing experimental system,then use the Lagrange equation to establish the dynamic model of the experimental system,and use the spatial state of the system to verify the stability,controllability and observability of the system.The experimental system model was simulated in Simulink to analyze how to suppress the sway.In the research of anti-swing control algorithm,we firstly design the conventional PID controller,double closed-loop PID controller and fuzzy adaptive PID controller to control the experimental system.The experimental results show that the effects of the conventional and double closed-loop PID control algorithms can basically meet the control requirements,but it is sensitive to changes in the hoisting parameters and the swing angle is too large.Although the fuzzy PID controller has a better improvement on the swing angle control,it requires a separate fuzzy controller when it is implemented,the operation time increases with the accuracy,and it has higher CPU requirements.In the modern optimal control theory,the LQR algorithm has good antiinterference and robustness.Therefore,based on the advantages of traditional PID control algorithm and modern LQR algorithm,we designed the anti-swing controller based on LQR-PID algorithm.The simulation results show that the dynamic performance of the response curve of the algorithm is improved compared with the fuzzy PID controller,which has a better effect on reducing the sway,and verifies the rationality of the algorithm.Finally,the hardware and software design of the anti-swing control experiment system was completed.The programming and configuration interface of LQR and LQR-PID control algorithms were completed by AS(Automation Studio)software.The experimental system was realized by PLC.The experimental results show that the LQRPID controller has good dynamic performance and strong swaying ability.The average adjustment time of the system is about 3s,the position error is controlled within 1%,and the swing angle is controlled within 10°.更多还原