兰州理工大学学报

兰州理工大学学报 ›› 2020, Vol. 46 ›› Issue (2): 97-102.

• 自动化技术与计算机技术 • 上一篇    下一篇

嵌入式系统在起重机吊具防摇控制中的应用

孙丽娟1, 唐伟强1,2,3, 黄小丽1, 龙文堃1   

  1. 1.兰州理工大学 电气工程与信息工程学院, 甘肃 兰州 730050;
    2.兰州理工大学 甘肃省工业过程先进控制重点实验室, 甘肃 兰州 730050;
    3.兰州理工大学 国家级电气与控制工程实验教学中心, 甘肃 兰州 730050
  • 收稿日期:2018-11-05 出版日期:2020-04-28 发布日期:2020-06-23
  • 作者简介:孙丽娟(1985-),女,甘肃张掖人,硕士,工程师.
  • 基金资助:
    国家自然科学基金(61463029)

Application of embedded-type system in anti-sway control of suspensory device of crane

SUN Li-juan1, TANG Wei-qiang1,2,3, HUANG Xiao-li1, LONG Wen-kun1   

  1. 1. College of Electrical and Information Engineering, Lanzhou Univ. of Tech. , Lanzhou 730050, China;
    2. Key Laboratory of Gansu Advanced Control for Industrial Processes, Lanzhou Univ. of Tech. , Lanzhou 730050, China;
    3. National Experimental Teaching Center of Electrical and Control Engineering, Lanzhou Univ. of Tech. , Lanzhou 730050, China
  • Received:2018-11-05 Online:2020-04-28 Published:2020-06-23

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摘要： 针对起重机吊具防摇系统中PLC实现模糊PID控制算法的迟滞性及编程工作量大等问题,提出将嵌入式系统运用到其防摇控制中.系统采用主从控制方式,将嵌入式处理器设定为从机工作模式,PLC设定为主机工作模式.从机负责起重机吊具参数的采样和模糊PID控制算法的运算,主机根据从机运算结果负责控制起重机小车电机的转速和方向,通过主从机协同控制达到起重机吊具防摇的目的.串行通讯接口RS485保证主从机数据的可靠通信.系统借助嵌入式处理器运算平台,通过运用C语言编程,实现模糊PID防摇控制算法,程序简洁,处理器读写指令周期短,提高了系统的数据处理能力和控制效率,嵌入式处理器与PLC主从控制方式增加了系统结构的灵活性.同时,结合模糊PID算法的自适应特性,使系统具有较强的鲁棒性.

关键词: 起重机, 电子防摇, 主从控制, PLC, 嵌入式系统, 模糊PID

Abstract: Aimed at the problems of time delay and laborsome work of programming of PLC to implement fuzzy PID control algorithm in anti-sway control system of suspensory device of crane, a design idea of applying embedded-type system to control the anti-sway system of crane is proposed. The system adopts host-slave control mode, in which the embedded-type processor is set to the slave working mode and the PLC is set to the host working mode; the slave is responsible for the sampling of the crane suspensory device parameters and the running of fuzzy PID control algorithm. According to the calculation result of slave operation, the host is responsible for control the speed and direction of the crane trolley motor. Through the coordinated control of the host and slave operation, the purpose of anti-swaying of crane suspensory device can be realized. RS485 is a serial communication interface that ensures the reliable communication of the data between the host and the slave. The fuzzy PID anti-sway control algorithm is run on the embedded-type processor computing platform with C-programming. The program is simple, and the processor performs instructions of reading and writing operations in short period. This design method improves the ability of the system to process data and control efficiency of the system. The control mode with embedded-type processor as the host and the PLC as the slave increases the flexibility of the system structure. Meanwhile, the system combined with the fuzzy PID algorithm has strong robustness.

Key words: crane, electronic anti-swaying, master-slave control, PLC, embedded-type system, fuzzy PID

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