In this paper, a type-2 fuzzy PID controller is presented to improve position control and damp the oscillation of the load for overhead crane systems. As an extension of traditional fuzzy logic theory, type-2 fuzzy logic theory can effectively improve the control performance especially for internal and external disturbances systems. According to the dynamic and inherent under-actuated characteristics of the overhead crane system, a PID controller that incorporates the type-2 fuzzy logic theory is designed to adjust the parameters dynamically during the control process. By implementing the simulation experiment, the results show that the proposed type-2 fuzzy PID control has significantly improved the suppression of load swing and position control.

本文提出了一种2型模糊PID控制器，以改善位置控制并减轻桥式起重机系统负载的波动。作为传统模糊逻辑理论的扩展，类型2模糊逻辑理论可以有效地提高控制性能，特别是对于内部和外部扰动系统。根据桥式起重机系统的动态和固有的欠驱动特性，设计了一种结合了2型模糊逻辑理论的PID控制器，以在控制过程中动态调整参数。通过进行仿真实验，结果表明所提出的2型模糊PID控制显着改善了负载摆动和位置控制的抑制。