A GPC-based Multi-variable PID Control Algorithm and Its Application in Anti-swing Control and Accurate Positioning Control for Bridge Cranes

It is one of the key tasks for the bridge crane to achieve anti-swing control of the hook and the accurate positioning of the body to work efficiently, safely and automatically. Based on Lagrange equation, this paper is to propose a dynamic model of the crane motion system for designing controller....

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Bibliographic Details
Published in:International journal of control, automation, and systems 2020, Automation, and Systems, 18(10), , pp.2522-2533
Main Authors: Yang, Bin, Liu, Zhen-Xing, Liu, Hui-Kang, Li, Yan, Lin, Sen
Format: Article
Language:English
Subjects:
Algorithms
Control
Control algorithms
Control systems design
Control theory
Control Theory and Applications
Controllers
Cranes
Cranes & hoists
Dynamic models
Engineering
Euler-Lagrange equation
Mechatronics
Motion systems
Parameters
Predictive control
Proportional integral derivative
Robotics
제어계측공학
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Summary:It is one of the key tasks for the bridge crane to achieve anti-swing control of the hook and the accurate positioning of the body to work efficiently, safely and automatically. Based on Lagrange equation, this paper is to propose a dynamic model of the crane motion system for designing controller. In the controller design, Proportional-Integral-Derivative (PID), the most widely used controller in engineering, is adopted and a new parameter tuning algorithm for a multi-variable PID controller based on generalized predictive control (GPC) is given. It is found that the multi-variable PID controller shares the same structural mathematical expressions with the GPC law, which makes for the transfer and calculation of the three parameters P, I and D, and that the new algorithm enables the traditional PID controller to perform as brilliantly as the GPC. The results of both the simulation and real-time control experiments show that the newly-proposed PID controller can effectively eliminate the swing of the hook and control the bridge cranes moving position accurately.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-019-0400-2