Two control loops are devised: a conventional PID regular is used to control the position and velocity of the trolley, and a fuzzy logic controller is proposed to the anti-swing control of the load.
为实现对小车的位置和抓斗的摆动分别控制而设计了两个控制回路，其中一个回路采用常规的PID算法来调节小车的位置和速度，同时另一个回路则利用模糊逻辑控制器来消除抓斗的摆动。
As to the horizon motion system of Bridge Crane is a nonlinear, variation parameter and strong coupling system, the nonlinear PID controller is used for positioning and anti-swing.
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象，采用非线性PID控制器进行定位和防摆控制。仿真实验结果表明，系统具有良好的动态、静态特性和强的鲁棒性。
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