基于无源性的塔机模糊神经网络防摆控制

摘要

针对塔式起重机的防摆控制问题，提出了一种基于无源性的模糊神经网络控制方法。通过建立Lyapunov能量函数，分析了系统的无源特性，在此基础上采用模糊控制并依靠神经网络对隶属函数进行学习，不需要依赖系统精确的数学模型，实现了塔式起重机小车的定位和负载的防摆，提高了系统的鲁棒性。仿真结果表明该方法的有效性和可行性。%Aiming at anti swing of tower crane,a control method of fuzzy neural network based on passivity is pro-posed. The passivity of system is analyzed by establishing the Lyapunov energy function,and the membership func-tion can be learned to rely on neural network by using fuzzy control on this basis. The accurate mathematical model of system was no more needed. In this method the position and anti swing of tower crane can be related. The robust-ness of system also be improved. The simulation results proved the feasibility and effectiveness of the method.