为了克服单轨吊偏载起吊和负载波动工况，提高设备的安全性，提出一种单轨吊起吊马达Fuzzy-PID同步控制系统。分析该系统液压工作原理，选择主从同步控制策略；在AMESim和Simulink中建模；进行联合仿真，并与PID进行比较，分析系统的同步性和鲁棒性。仿真结果表明：单轨吊起吊马达采用Fuzzy-PID是切实可行的，与PID相比具有响应速度快，超调量小，鲁棒性好的优点。Fuzzy-PID在偏载起吊时，系统在08 s内达到稳定转速，相对于PID提高了42.1%；最大同步误差为35 r/min，相对于PID降低了27.1%；稳定后同步误为0.6 r/min，相对于PID降低了40%。负载波动时，系统在0.4 s内达到稳定转速，相对于PID提高了429%；最大同步误差为13 r/min，相对于PID降低了9%。故Fuzzy-PID可以有效解决起吊马达偏载起吊和负载波动工况，能保证单轨吊起吊动作平稳、同步、安全进行。
In order to overcome the unbalanced load lifting and load fluctuation of monorail crane and improve the safety of equipment,a Fuzzy-PID synchronous control system for monorail crane motor was proposed.The hydraulic working principle of the system was analyzed,and the master-slave synchronous control strategy was selected.Modeling in AMESim and Simulink was completed.The joint simulation was carried out and compared with PID to analyze the synchronization and robustness of the system.The simulation results show that it is feasible to use Fuzzy-PID for monorail hoisting motor.Compared with PID,it has the advantages of fast response,small overshoot and good robustness.When the Fuzzy-PID is used under eccentric load,the system reaches a stable speed in 0.8 s,which is 42.1% higher than that of PID; the maximum synchronization error is 35 r/min,which is 27.1% lower than PID; after stabilization,the synchronization error is 0.6 r/min,which is 40% lower than PID; when the load fluctuates,the system reaches a stable speed in 0.4 s,which is 42.9% higher than that of PID; the maximum synchronization error is 13 r/min,which is reduced by 9% compared with PID.Therefore,Fuzzy-PID can be used to effectively solve the unbalanced load start and load fluctuation conditions of lifting motor,ensuring the stable,synchronous and safe operation of monorail lifting.
ZHANG Li, MU Hongyun, LIU Yao. Simulation Analysis of Pilot Electro-Hydraulic Proportional Synchronous Control of Monorail Hoisting Motor[J]. Machine Tool & Hydraulics,2022,50(24):130-135