Research on Anti-swing of Bridge Crane Based on Fuzzy Self-adaptive PID Controller

摘要

Aiming at eliminating and controlling the swing of load and realizing the precise positioning of the two-degree-of-freedom bridge crane, this paper uses the Lagrange equation to establish the nonlinear differential equation of the dynamic model of the bridge crane. Considering the nonlinearity, time variation and uncertainty of the crane system, the fuzzy self-adaptive PID controller is the fusion of PID controller and fuzzy controller. The function of fuzzy language is to regulate the PID parameters in real time. The model and dynamic simulation of the anti-sway system are studied by SIMULINK, to verify the fuzzy self-adaptive PID control method is feasible. Compared with the traditional PID control method, the fuzzy self-adaptive PID controller has better adaptability and robustness according to the analysis of the simulation results. The control process is more stable and the response speed is faster, which can improve the dynamic performance of the crane anti-swing system.