研究船用起吊机转动优化控制,针对船用起重机在进行海上补给作业时,由于船体本身的运动、补给速度的变化、风浪的影响等会导致载荷摇摆.为了将载荷摇摆消减到可吊装的程度,使船用起重机能够在比较恶劣的海况下作业,提出将专家PID控制应用到船用起重机的消摆控制中,设计了船用起重机消摆专家PID控制器.专家PID控制的实质是基于受控对象和控制规律的各种知识,利用专家经验设计PID参数来设计控制器.仿真结果表明,载荷摆动消减到3度以下,并有较好的跟踪性能,取得了良好的控制效果,为设计提供了依据.%During the transfer operation of ship-mounted crane, wave-induced ship motions change in recharge rate, and the impact of storms may cause the pay load to pendulate. In order to reduce pay load swing to the extent of which may be lifting, the ship-mounted crane was operated under the harsh sea conditons. In this work, the pendulation reduction of ship-mounted was controlled by PID expert controler. The PID expert controller was designed. The substance of the expert PID control was all sorts of knowledges based on object and control law, then it was used to design controller. The experiment results demonstrate that the payload pendulation decreases by 3 degrees , and it tracks the reference speed curve. The expert PID control obtains good control effect.
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