摘要
起重机防摆控制系统是一个非线性、强耦合、模型复杂的系统,应用传统的模糊控制器对起重机的定位和防摆进行控制往往难以达到满意的效果。在速度-位移双跟踪模糊控制器的基础上,针对模糊控制中论域范围选择的难题,分别通过基于函数模型和基于模糊推理的变论域方法与其相结合,实现论域随输入量的变化而变化。针对传统模糊防摆控制器结构复杂、输入变量存在耦合关系的问题,将定位和防摆模糊控制器、输出因子模糊控制器设计成四输入单输出的双二维模糊控制器。仿真结果表明,与速度-位移双跟踪模糊控制器和基于函数模型的变论域模糊控制器相比较,基于模糊推理的速度-位移双跟踪变论域控制器避免了传统变论域模糊控制器在函数系数选择上的困难,且对不同的绳长和负载具有较好的鲁棒性、较高的精度和较强的实时性。
The anti-swing control system for cranes is nonlinear, strong coupling and complex, while the application of traditional fuzzy controller of cranes＇ anti-swing and position is often difficult to achieve satisfactory results. Aiming at the problem on the choice of universe range in fuzzy control, speed-displacement double follow-up fuzzy controller was combined with the variable universe method based on function model and fuzzy inference, to achieve the change of universe according to the changes of input. Aiming at the problem of complex fuzzy anti-swing controller and coupled input variables,fuzzy Anti-Swing and Position controller and fuzzy output factor controller were designed to double two-dimensional fuzzy controller with four input/one output. Simulation results prove that compared with the speed-displacement double follow-up fuzzy controller and the variable universe fuzzy controller based on function model, the variable universe controller based on fuzzy inference avoids the difficulties in the choice of coefficients of traditional variable universe fuzzy controller, and possesses better robustness and higher accuracy with different length of rope and loads and in real-time.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2014年第2期425-429,474,共6页
Journal of System Simulation
基金
中央高校基本科研业务费专项资金(SWJTU11CX144)
关键词
起重机
变论域
自适应模糊控制
模糊推理
函数模型
定位和防摆
crane
variable universe
adaptive fuzzy control
fuzzy inference
function model
anti-swingand position control
