适于长距离运输的分段吊车模糊控制

针对长距离吊车运输系统的特征,提出了分段切换因子模糊控制方法.该方法使用两个子模糊控制器分别用于抗摆和定位控制,并运用实值遗传算法选取模糊控制器的分段切换因子.仿真结果表明:该方法保证了定位精度并能有效地抑制超调,在加速阶段、运输阶段和减速阶段能够使载荷摆角最小,并且能够在目标位置进行消摆控制,其性能优于传统二次型最优控制.

Two-stage fuzzy control for long-distance transportation of overhead crane

A GA-based two-stage parameter-switching fuzzy controller was presented for the long-distance transporting performance of overhead crane. In this controller, two fuzzy sub-controllers were respectively built for swing damping and position control. The real-valued GA was used to tune the parameters of the fuzzy sub-controllers in accelerating stage and decelerating stage in order to ensure the positioning precision, the minimum transporting swing angle and the damping of swing angle at the target position. Simulation results demonstrated the effectiveness of this method and its advantage over quadratic optimal control.