PID控制在大型起重船吊物系统中的应用

摘要

介绍了大型起重船的结构模式,针对起重船吊物PID控制策略,基于ADAMS软件建立了整个系统的多体动力学模型,设计出1种基于起重机原结构的PID控制方法,通过数值仿真对其进行了验证.结果表明:其控制效果可以满足工程要求,其作用对起重作业的安全有重要意义.%The paper describes structure of large floating crane, for the PID control strategy of the floating crane hoisted load, establishes multi-body dynamics model of the entire system based on the ADAMS software, designs the PID control based on the original structure of the crane, and testifies the control method via the numerical simulation. The results show that the control performance can meet the engineering requirements, and the control method plays an important role in safe lifting operations.