20 桥式起重机定位和防摆的RBF神经网络控制_杨春燕.pdfVIP

第6卷 第4期 320 中国科技论文在线 SCIENCEPAPER ONLINE 2011 年 4 月 桥式起重机定位和防摆的 RBF 神经网络控制 杨春燕 （北京化工大学信息科学与技术学院，北京100029） 摘 要：针对起重机模型的非线性和不确定性，提出一种基于径向基函数(RBF)神经网络的起重机定位和防摆控制方 法，利用 2 个RBF神经网络控制器对小车的位置和负载的摆动分别进行控制。RBF神经网络位置控制器参考一个简单 的方波位置参考曲线，可对位置和速度进行有效地控制；RBF神经网络防摆控制器用来实现悬绳摆角和摆角速度在到 达目标位置时减小到零。仿真实验结果表明：该方法能同时实现起重机系统定位控制和重物防摆功能，与线性二次型 最优控制(LQR)相比，具有较好的控制性和鲁棒性。 关键词：RBF神经网络控制；桥式起重机；定位和防摆控制；线性二次型最优控制 中图分类号：TP273 文献标志码：A 文章编号：1673－7180(2011)04 －0320 －5 Anti-swing and position control for bridge cranes based RBF neural network Yang Chunyan (Beijing University of Chemical Technology, Institute of Information Science and Technology, Beijing 100029, China) Abstract: It was proposed a radical basis function neural network (RNFNN) anti-swing and position control of overhead cranes considering the nonlinearity and uncertainty of the crane model, where two radial basis function neural network controller were designed to control the trolley position and load swing separately. The radial basis function neural network position controller was based on a simple square wave position reference trajectory to control the position and velocity of the trolley. The radial basis function neural network anti-swing controller was used to implement hanging rope swing angle and swing velocity decreases to zero when reaching the destination. Simulation results show that the presented conrtoller can realize positioning and anti-swaying simultaneously, and compared with linear quadratic regulator (LQR), this method is of good control performance and ro