Research on Anti-swinging Characteristic of Rigid-pendulum-crane with PID Control and Experiment
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摘要: 针对实际工程需求，对刚性摆起重机防摇特性进行研究，建立了刚性摆起重机摆动的数学模型及其状态方程。利用MATLAB研究在相同单位冲击下，自由系统停止摆动所需的时间和施加PID控制的系统停止摆动所需的时间。以停摆时间作为判断标准，PID控制能明显地减小起重机停止时的摆动，具有很好的控制效果。以STM32f103为下位机，LABVIEW为上位机建立刚性摆起重机的仿真实验平台。经过实验验证，刚性摆起重机的PID控制能够满足实际的工程需要，能明显减小刚性起重机停摆时间和最大停摆角度，极大地提高了刚性摆起重机的工作效率。Abstract: In order to turn out that PID-Control has a better control effect, the anti-swinging characteristic of rigid-pendulum-crane with PID-Control has been studied. The mathematical models of the rigid-pendulum-crane had been established to obtain its state equation. Through MATLAB, the time needed to stop swinging of free crane system and of PID controlled crane system had been simulated after the same unit impact. According to the time, the PID controlled system could significantly suppress the swinging of rigid-pendulum-crane. Besides, the rigid-pendulum-crane experiment platform with STM32F103 as lower machine and LABVIEW as upper machine had been established. It has been verified that the rigid-pendulum-crane with PID-Control can meet the actual engineering needs and greatly improve the efficiency of the rigid-pendulum-crane by the platform.
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Key words:
- rigid-pendulum-crane /
- anti-swinging /
- MATLAB /
- PID control /
- LABVIEW
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表 1 实验数据
速度/(mm·s-1) 173.3 165.6 145 87.8 自由停摆时间/s 42.9 37.6 28.1 6.2 PID控制停摆时间/s 2.2 2.3 2.7 2.5 自由停摆最大摆角/(°) 8.1 6.7 5.4 2.1 PID控制停摆最大摆角/(°) 6.1 4.9 3.7 1.8 
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