The overhead crane systems is a kind of complex dynamic nonlinear system, and the inherent under-actuated characteristics (the dimension of control variables are less than the degree of freedom dimension of the system) bring great difficulty to the payload control. In order to effectively control the movement of the load and eliminate the residual oscillations of the payload, a fuzzy PID control method is proposed in this paper. Firstly, according to the input and output characteristics of the overhead crane, the corresponding PID controller and the parameters configuration are established. Moreover, according to the actual operation situation, the experience of the operator is combined with the PID controller, and the fuzzy inferencing method is applied to achieve the optimal adjustment of PID parameters. Finally, through theoretical analysis and Simulink simulation experiment, the proposed fuzzy PID control method can significantly damp the payload oscillation.
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