Bridge crane PID control method based on grey wolf algorithm

Abstract

The invention discloses a bridge crane PID control method based on a grey wolf algorithm. An adopted PID controller structure is a double-closed-loop structure, collected swing angle and displacementlength of goods in a crane operation process are taken as an input of a control system, a difference between actual work and a target value is taken as an output, and the PID control of the crane is carried out. An inner loop is an angle control system, a target swing angle is set, the closed-loop feedback is carried out to adjust a swing angle according to a swing angle error between an actual working swing angle and a target swing angle, and the swing angle error is controlled within a certain angle. An outer loop is a displacement control system with the same feedback principle as the innerloop. According to the method, the complicated mechanical model is rationally simplified to a two-dimensional plane, the global search property of a gray wolf bionic algorithm is used to quickly findoptimal control parameters, a closed-loop control strategy is proposed, the intelligent operation of a large-scale working device bridge crane is achieved, the problems of large swing angle and slowpositioning speed of a bridge cane in the operation process are overcome, and the work efficiency and safety performance are improved.

Description

technical field [0001] The invention relates to the field of control methods for bridge cranes, in particular to a PID control method for bridge cranes based on a gray wolf algorithm, which belongs to the active control system in the field of system control. Background technique [0002] Due to its low cost, simple structure, and strong load-bearing capacity, overhead cranes are widely used in lifting, transporting, loading and unloading materials in various industries such as metallurgy, coal, and electric power. Focus on the study of its control system to improve the stability and reliability of the equipment, mainly to solve the problems of large swing angle and how to quickly position during its operation, so as to complete the work with high quality under various working conditions. In the PID controllers, fuzzy controllers and slide film controllers that have been used, the operation is usually completed by the experience accumulated by the workers in actual work, and ...

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Problems solved by technology

The bridge crane system is a typical nonlinear strong coupling system, and the linear control system is obviously difficult to obtain ideal results; the nonlinear control system also has the disadvantage of being very sensitive to modeling errors; intelligent control has a strong influence on system modeling errors and external disturbances. Robustness, but currently there is a problem that the control system parameters are difficult to select

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