论文总字数：20974字

摘 要

吊物的摆动式影响吊车装卸效率的主要原因。电子防摆是一种主动防摆方式，它将减轻和运行控制结合进来考虑，不依赖于司机的操作经验，可以有效的提高吊车装卸效率，减轻司机的工作强度，是实现港口，厂矿装卸自动化的趋势。

本文首先建立吊车运动系统的数学模型，用MATLAB/Simulink搭建了系统的仿真实验模型，设计双闭环PID控制器来实现吊车系统的防摆。针对常规PID控制器很难满足吊车这类控制参数变化很大的复杂系统对控制精度的要求，设计了非线性PID控制器，该控制方案可以消除系统静差，缩短系统响应时间，抗干扰能力较强。运用增量型PID控制算法对PID控制策略进行了数字实现。

关键词：吊车；防摆；PID；增量型PID；matlab

Abstract

Generally speaking,the loading efficiency is mainly influenced by swing of hanging objects.As an active method for avoiding swing,electronic anti-swing is not dependent on the driver’s experience and can combine swing-decreasing with movement-control to improve the efficiency of crane,and lighten the intensity of drivers.Therefore,it will be used widely for loading of port and factory.

In this thesis,the mathematical model of the overhead crane motion system is established and the simulation model is also built with MATLAB/Simulink.The two closed-loop PID controller is designed to achieve the control of anti-swing and orientation.Comparing with the controlling results of using conventional PID algorithm as a controller on different disturbance conditions,we can find that it is difficult to meet the accuracy requirements of the practical operation of crane system which has easily variable control paaramenters in the process of running.So we design the nonlinear PIDwhose variable parameters change with error.The results of simulation indicate that steady-state error can be eliminated,and the response time of system can be shortened,in addition,the disturbance rejection ability of system can be strengthened.Then,we complish the digital realization of PID control strategy with increment PID control algorithm.

Key Word:crane;Anti-swing;PID;Increment PID;matlab

目录

摘要....................................................II

Abstract...............................................III

第一章 绪论.............................................1

1.1课题的背景及意义.......................................1

1.2 国内外发展综述........................................2

1.3 本文研究的主要内容....................................2

第二章 吊车系统建模....................................4

2.1 引言..................................................4

2.2问题提出...............................................4

2.3建立系统模型...........................................5

2.4模型参数确定...........................................7

2.5吊车仿真实验模型的建立.................................7

2.6本章小结...............................................9

第三章 吊车PID控制器的设计..........................10

3.1吊车常规PID控制器的设计..............................10

3.2常规PID控制原理及规律................................10

3.3位置——摆角双闭环常规PID控制器的设计................11

3.4 PID控制参数的整定方法................................12

3.5常规PID控制器的控制仿真与干扰实验....................15

3.6本章小结.....................。........................20

第四章 三种控制器控制效果的比较与分析...............21

4.1理想条件下三种控制器控制效果的对比....................21

4.2三种不同控制策略的抗干扰性能对比......................23

4.3吊车防摆控制器选择....................................24

4.4本章小结..............................................24

结论....................................................25

参考文献................................................26

致谢....................................................29

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