智能门式起重机路径跟踪运动控制研究

摘要

Basing on establishing and analyzing gantry crane's bi-directional positioning and anti-sway dynamical model,the point decomposition algorithm was adopted to decompose the planned path in the direction of cart and trolley movement so that the motion control characteristics of the gantry crane system can be answered; and applying fuzzy adaptive PID control algorithm to path tracking of the gantry crane system and the anti-sway control was proposed and simulated and experimented%在建立分析门式起重机双向定位防摆动力学模型的基础上,采用取点分解算法将规划的路径向大车、小车运动方向进行分解,以适合门式起重机系统的运动控制特性.提出了将模糊自适应PID控制算法应用于门式起重机系统的路径跟踪与防摆控制并进行了仿真和实验研究.