桥式起重机是一种工厂、港口和建筑工地的常用起重设备。为了解决桥式起重机在吊装作业时产生的负载摇摆及小车定位的问题，提出了一种基于低通滤波器去噪的PDC控制方法。首先利用拉格朗日方程建立了桥式起重机数学模型，其次引入TS（Takagi-Sugeno）模糊规则，接着设计了并行分布式补偿（parallel distributed compensation, PDC）控制器并证明其稳定性，最后搭建Simulink平台进行了PDC控制器对比实验和PDC控制器鲁棒性实验。实验结果表明，基于低通滤波器去噪的PDC控制器对比线性二次调节控制器（linear quadratic regulator, LQR）和多滑模控制器（multiple sliding mode control, MSMC），对摆角的抑制能力分别提高了13%和24%，对小车的快速定位能力分别提高了18%和63%，具有优良的鲁棒性，可以更好地满足桥式起重机地防摆控制要求。

Bridge cranes are a common type of hoisting apparatus utilized in factories, ports, and construction sites. A PDC(parallel distributed compensation) control approach utilizing low-pass filter denoising was proposed to address the issues of load swing and trolley location caused by the bridge crane during lifting operations. Initially, a mathematical model of the bridge crane was formulated utilizing the Lagrange equation. Subsequently, TS (Takagi-Sugeno) fuzzy rules were incorporated. Thereafter, the PDC controller was designed and demonstrated to be stable. Finally, the Simulink platform was developed to conduct comparative experiments of PDC controllers and robustness assessments of PDC controllers. The experimental findings indicate that the PDC controller utilizing low-pass filter denoising enhances the suppression capability of the pendulum angle by 13% and 24% and the rapid positioning ability of the trolley by 18% and 63%, in comparison to the LQR controller and the MSMC controller. This approach demonstrates robustness and effectively satisfies the demands of anti-swing control for overhead cranes.