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

Bin Yang*, Zhenxing Liu, Huikang Liu, Yan Li, and Sen Lin
International Journal of Control, Automation, and Systems, vol. 18, no. 10, pp.2522-2533, 2020

Abstract : 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 the Lagrange equation, this paper is to propose a dynamic model of the crane motion system for designing controller. In the controller design, ProportionalIntegral-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.

Keyword : Anti-swing control, bridge crane, generalized predictive control, multivariable PID controller.

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