基于PSO的塔式起重机模糊神经网络滑模防摆控制

针对塔式起重机运行中重物摆动造成的工作效率降低、存在安全隐患等问题,建立塔式起重机的动力学模型,设计基于PSO的模糊神经网络滑模控制器,用于塔式起重机的定位、防摆控制。用模糊神经网络辨识塔式起重机系统模型的不确定项,并用PSO算法优化滑模控制器的参数。该方法降低了滑模控制系统的抖振,提高了控制系统的性能。仿真结果表明该方法的有效性和可行性。

Fuzzy Neural Network Sliding Mode Anti-swing Control for Tower Crane Based on PSO

The efficiency of tower crane will decrease , moreover hidden safety problems existing because of swing of the heavy load in the operation of the tower crane .The dynamics model of the tower crane was analyzed , and a kind of fuzzy neural network slid-ing mode controller based on PSO was designed using for tower crane positioning and anti -swing control.The fuzzy neural network was used for identification of tower crane model uncertainties , and PSO algorithm was used to optimize parameters of the sliding mode con-troller.The method reduces the chattering of sliding mode control system , improves the performance of the control system .The simula-tion results show the effectiveness and feasibility of the method .