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

• Published in: International journal of control, automation, and systems Vol. 18; no. 10; pp. 2522 - 2533
• Main Authors: Yang, Bin, Liu, Zhen-Xing, Liu, Hui-Kang, Li, Yan, Lin, Sen
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2020; Springer Nature B.V; 제어·로봇·시스템학회
• 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; multivariable PID controller; generalized predictive control; Anti-swing control; bridge crane
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0400-2

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.