本文關鍵詞： 起重機 防擺 線性二次型最優(yōu)控制 PID-LQR PLC　出處：《東華大學》2017年碩士論文　論文類型：學位論文

【摘要】：起重機的搖擺現(xiàn)象,不僅不利于運輸,而且增加了安全隱患,嚴重影響工作效率。為了保證安全生產(chǎn),提高工作效率,本文對起重機系統(tǒng)的搖擺現(xiàn)象進行研究。本文利用貝加萊公司提供的起重機防搖實驗裝置對起重機防搖控制進行研究,建立了起重機動力學模型,然后采用PID-LQR算法對起重機系統(tǒng)進行控制,在Automation Studio里通過C語言編程實現(xiàn)了算法控制,并在實驗裝置上進行了驗證。采用機理建模的方式,通過拉格朗日方程建立了起重機系統(tǒng)的動力學模型,再結合起重機工作過程中產(chǎn)生的具體情況,作出一些必要假設,忽略了風力、空氣阻力、摩擦力等因素的影響,由此將動力學模型進一步簡化,得到起重機系統(tǒng)的傳遞函數(shù)與狀態(tài)方程;采用實驗建模法,得到了起重機小車速度與吊重擺角的關系;最后將起重機系統(tǒng)等效模型進行特性分析,說明了系統(tǒng)的穩(wěn)定性,其狀態(tài)可觀可控。采用線性二次型最優(yōu)控制算法(LQR,linear quadratic regulator)對起重機系統(tǒng)進行防搖設計。為了優(yōu)化控制性能,結合經(jīng)典PID算法,設計了既有狀態(tài)反饋又有輸出反饋的PID-LQR控制器,實現(xiàn)了對小車的運動狀態(tài)和吊重擺角的控制。對參數(shù)進行整定,最終獲得控制效果最優(yōu)的一組參數(shù)。通過MATLAB仿真,驗證了算法的合理性。最后在起重機防搖實驗裝置上,通過Automation Studio軟件進行了LQR和PID-LQR兩種算法的C語言編程和人機界面的設計,通過PLC實現(xiàn)了對起重機防搖實驗裝置的控制。實驗結果表明,PID-LQR控制器性能良好,消擺能力強,系統(tǒng)平均調節(jié)時間為1.1s,位置超調控制在1%以內。
[Abstract]:The rocking phenomenon of crane is not only unfavorable to transportation, but also increases the hidden danger of safety, which seriously affects the work efficiency, in order to ensure the safety of production and improve the working efficiency. In this paper, the rocking phenomenon of crane system is studied, and the crane anti-rolling control is studied by using the anti-rolling experimental device provided by Baigale Company, and the crane dynamic model is established. Then the crane system is controlled by PID-LQR algorithm, and the algorithm control is realized by C language programming in Automation Studio. The dynamic model of crane system is established by Lagrangian equation, and then combined with the concrete situation of crane working process. Some necessary assumptions are made, and the influence of wind force, air resistance and friction are ignored, so the dynamic model is further simplified and the transfer function and state equation of crane system are obtained. Using the method of experimental modeling, the relationship between the speed of the crane trolley and the swing angle of the crane is obtained. Finally, the equivalent model of crane system is analyzed, and the stability of the system is explained. The state of the system is controllable and observable. The linear quadratic optimal control algorithm is used to control the LQR. In order to optimize the control performance, the linear quadratic regulator is used to design the anti-rolling crane system. The classical PID algorithm is used to optimize the control performance. The PID-LQR controller with both state feedback and output feedback is designed to control the motion state and the hoisting angle of the trolley. The parameters are adjusted. Finally, the optimal control effect of a set of parameters. Through MATLAB simulation, verify the rationality of the algorithm. Finally, on the crane anti-rolling experimental device. C language programming and man-machine interface design of LQR and PID-LQR algorithms are carried out by Automation Studio software. The experiment results show that the PID-LQR controller has good performance, strong anti-swing ability, and the average adjusting time of the system is 1.1 seconds. The position overshoot is limited to 1%.
【學位授予單位】：東華大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP273;TH21

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相關碩士學位論文 前1條

1 郭瀛舟;基于PID-LQR的起重機系統(tǒng)防搖控制研究[D];東華大學;2017年

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本文編號：1468842