The invention relates to an automatic tower crane control method based on a genetic algorithm, which is characterized by comprising the following steps of: establishing a mathematical model of an anti-swing system of a tower crane by adopting a Lagrange equation according to mechanical characteristics of the tower crane, and then performing PID (Proportion Integration Differentiation) setting based on genetic algorithm optimization. According to the method, the editing complexity of the control rule and the rule base arrangement workload are considered, and part of limitations of a fuzzy PID control method are made up. Based on the automatic control method of the tower crane, PID parameters are set by adopting a genetic algorithm, and through simulation experiment analysis, compared with fuzzy PID control, the attenuation speed of a swing angle curve is better, and the response speed of a displacement curve is higher. As an automatic control method of the tower crane, the method can obviously overcome the defects of inaccurate positioning of the trolley and large-amplitude swinging of a steel wire rope and a load around a suspension point caused by factors such as friction force, wind power, lack of experience of operators and the like, and has the advantages of being scientific, reasonable, high in applicability and the like; under the background that mechanical construction of power grid engineering is not completely popularized, the method for automatically controlling the tower crane based on the genetic algorithm has more practical significance.
本发明是一种基于遗传算法的塔式起重机自动控制方法,其特点是:包括以下内容:根据塔式起重机力学特性,采用拉格朗日方程建立塔式起重机防摆系统的数学模型,然后进行基于遗传算法优化的PID整定。其考虑了考虑控制规则的编辑复杂程度以及规则库整理工作量,弥补了模糊PID控制方法的部分局限性。基于所提塔式起重机自动控制方法,采用了遗传算法对PID参数进行整定,通过仿真实验分析,相比于模糊PID控制控制摆角曲线衰减速度更好,位移曲线响应速度更快。它作为一种塔式起重机自动控制方法,能明显克服摩擦力、风力、操作人员经验匮乏等因素导致的小车定位不准确以及钢丝绳和负载绕悬吊点产生的幅度较大的摆动,具有科学合理,适用性强等优点,在电网工程机械化施工还未完全普及的背景下,通过使用本发明所提基于遗传算法的塔式起重机自动控制方法更有实际意义。
Automatic tower crane control method based on genetic algorithm
一种基于遗传算法的塔式起重机自动控制方法
2023-01-17
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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