A WOA Based Switching PID Control for Overhead Crane

Aiming at the problem that the amplitude of load oscillation is not easy to control in the movement process of overhead crane, this paper designs a switching PID control method based on whale optimization algorithm(WOA) to improve the performance of position control and anti-swing control for overhead crane. WOA is used to better adjust the parameters of PID controllers. The switching control is realized by a switching module, which defaults to the output of the Position PID Controller to provide control force for the trolley. When the absolute value of the load swing angle fed back by the crane system exceeds the warning value, the switching module immediately blocks the output of the Position PID Controller, and uses the Angle PID Controller to determine the control force. In addition, through theoretical analysis and simulation experiments under different conditions, the results verify the effectiveness of the WOA based switching control in position control and anti-swing control for overhead crane. Improve the efficiency and safety of overhead crane in practical industrial applications.