【作者】 严晶；

【导师】 王林；

【作者基本信息】 上海交通大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 行车是大型工业领域的重要设备。随着生产效率不断提高,行车设计大型化、高速化的要求,现场对行车的技术参数和自动化水平要去越来越高。高速运行的行车所带来的摇摆是工业现场的极大隐患,因此设计一种智能防摇控制系统可以大大的改善现场的工作环境,减轻司机的工作强度。本文依托于变频调速器和可编程逻辑控制器(PLC)技术,可以有效的把智能控制方法应用于控制现场。本文的第一部分把智能行车分为了清晰的几层,系统研究了位置传感器和图像传感器的工作原理,分析了控制层的控制流程,并阐述了其PLC实现,描述了硬件条件上比一般的电子机械系统拥有一定的优势。本文研究了对行车系统的运动过程进行了运动分析,通过细致的理论分析,建立了运动系统的数学模型和状态方程,并对行车水平运动和摆动运动进行了运动分析,以Bang-Bang控制的原理分析了最优解的情况。进而通过借鉴对几种速度变换模型的比较,提出了“固定步长速度变换模式”法实现行车自动控制的方案。本文还介绍了模糊控制和模糊神经网络控制方法。针对行车的运动特征,提出了模糊控制器的设计原则和设计方法。通过运动状态方程中位置和摆动变量的读取输入,分别设计水平、摆动两个系统的控制系统,选取了适合行车系统的模糊控制规则和隶属函数,并提出了神经学习的模糊神经网络控制器的设计方法。更多还原

【Abstract】 Travelling crane is an important equipment of Industry field. With the development of efficient and the demand of lager scale and higher velocity, the travelling crane needs to be more intelligent with high technology. The sway induced by the high speed travelling crane is great hazard to the industry filed, so we should design an intelligent anti-sway control system of travelling crane to improve the working environment and reduce the working intension.The system is based on frequency conversion velometer and PLC. This paper analyses the construct of the system, and introduces the working theory of position and graphic sensors. By describe the control procedure of the control level and the PLC, the paper purposes that this control system has great advantage.This paper anlyses the movement motion of the model of the travelling crane system. According to the motion, this paper establishes the mathematics model and status formula. This paper discusses the situation of optimization results about horizontal moving and sway moving with Bang-Bang control theory. By comparing four velocity pattern, this paper choose the stepped velocity pattern to develop the anti-sway control scheme.The next part introduce the fuzzy control and fuzzy-neruon control methods. With the analysis of moving characters, this part confirm the principles and methods of fuzzy controller. By concerning of all the variables, this paper designs two control system for the position and sway moving, establishes the fuzzy control rules and membership functions.And then, the paper brings out the fuzzy neural network model by the good ability of neural network’s self-study.更多还原