Abstract: The key control technology to improve the working efficiency of the crane is the load anti-swing and positioning control technology.However,the current control technology that meets both anti-swing and positioning is still difficult to meet the requirements of safe and efficient operation of the crane in the intelligent manufacturing environment.The anti-swing positioning control strategy of bridge crane based on Multi-objective Particle Swarm Optimization (MOPSO)-fractional coupling was proposed,which could effectively solve the above problems,that was,when the crane reached the target lifting point,it could simultaneously achieve high-precision positioning and large-area anti-swing.Based on the coupling of the fractional signal of swing angle and the displacement signal,the anti-sway positioning control strategy was designed from the perspective of the energy analysis to make the generalized energy function of the crane system attenuate rapidly.The MOPSO algorithm was used to adaptively optimize the controller parameters,so as to achieve the control effect of taking into account the large area swing elimination and fast and high-precision positioning.A large number of simulation and experimental results proved the effectiveness of the anti-roll positioning control algorithm based on MOPSO-fractional coupling.

Key words: bridge crane, anti-sway positioning control, fractional coupling, multi-objective particle swarm optimization

摘要： 提高起重机工作效率的关键控制技术为负载防摇与定位控制技术,而目前同时满足防摇和定位的控制技术仍难以满足智能制造环境下对起重机安全高效作业的要求。基于多目标粒子群优化(MOPSO)分数阶耦合的桥式起重机防摇定位控制策略,可有效解决上述问题,即起重机到达目标落吊点时可同时实现高精度定位和大面积消摆。基于能量分析设计摆角的分数阶信号与位移信号耦合的防摇定位控制策略,能够使起重机系统广义能量函数快速衰减,并采用多目标粒子群算法自适应优化控制器参数,以达到兼顾大面积消摆和快速高精度定位的控制效果。大量的仿真和实验结果证明了基于MOPSO-分数阶耦合的防摇定位控制算法的有效性。

关键词: 桥式起重机, 防摇定位控制, 分数阶耦合, 多目标粒子群算法