A fuzzy-logic antiswing controller for three-dimensional overhead cranes.
In this paper, a new fuzzy antiswing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control crane position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position and rope length for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by experiments with a three-dimensional prototype overhead crane.
Cho
Sung-Kun
SK
Embedded Software Division, Mentor Graphics Corporation, San Jose, CA 95131, USA.
Lee
Ho-Hoon
HH
D003198:Computer Simulation; D005246:Feedback; D017143:Fuzzy Logic; D016014:Linear Models; D009038:Motion; D011786:Quality Control; D016474:Weight-Bearing