基于双模糊控制器的桥式吊车防摆控制.doc

毕业设计（论文） 基于双模糊控制器的桥式吊车防摆控制 院 别 专班级姓名 指导教师 摘要消除或控制吊重的对提高工作效率、减少装卸作业安全生产隐患具有重要意义采用电子防摆装置，是减轻司机工作强度、改善司机恶劣工作环境的重要途径，也是实现机械自动化、仓储现代化的大势所趋。因此本文针对桥式吊重防摆控制了研究。本文应用模糊控制，基于模糊控制的桥式防摆助工具箱对所设计的方案进行仿真分析。结果表明，本文所设计的模糊控制具有良好的控制性能有效的抑制了吊重的摆动，且，是一种较为理想的控制方法。 关键词：桥式吊车，防摆，双模糊控制器，PID控制，仿真 Control on Double Fuzzy Logic Anti-Swing Control of Overhead Crane Author： Tutor：Abstract Eliminating and controlling the swing of the crane are very important for increasing the work efficiency, decreasing hazard during loading and unloading operation. And electronic anti-swing device is an important method for reducing the intensity of the drivers and improving the working environment.What’s more,it is also a tendency for the realization of the mechanical automation and modernization of the storage. Therefore this paper researched on the anti-swing control of the crane. I applied the fuzzy control principle to design the project. Firstly, according to the actual physical model of the crane, using methods of analytical mechanics and the Lagrange equation, I achieved the equation of motion under the condition of two-dimensional of the overhead crane system. Secondly,In order to make the fuzzy controller more easy, I separated the crane positioning and the anti-sway control and designed two-fuzzy controllers that is positioning fuzzy controller and anti-swing fuzzy controller. By the analysis of the simulation of the two-dimensional motion of overhead crane model, I obtained the basic domains of the displacement and tilt angle, the membership functions of the input and output variables, and build the fuzzy control rules and completed the design of the controllers. Finally, with the help of Matlab/Simulink and Fuzzy Toolbox, I made the simulation analysis of the designed program.The results show that the design of the fuzzy control