Fuzzy logic-based adaptive control system prototypying for laboratory scaled overhead crane

Abstract

The prototyping process of a fuzzy logic-based antisway control scheme for the laboratory scaled overhead crane is described. The software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers determined at the selected operating points using a pole placement method (PPM) and the fuzzy interpolation of controllers parameters within the range of scheduling variables: rope length and mass of a payload. The control algorithm, a linear dynamic model of a planar crane, as well as the fuzzy schedulers of controllers and model's parameters were implemented using structured text (ST) on the PAC system with RX3i controller. The softwarehardware tools allows to automate the crane's models identifications for the selected operating points, determine the controllers parameters, validate the closed-loop system through real-time simulating on the PAC system and finally pass to conducting the experiments on the laboratory device.

Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic

“…In [15] and [16] an adaptive fuzzy controller for 3D Crane was designed. The results were simulated with varying length of flexible-wire of the load as well with different masses.…”

Application of Analogue Derivators for Obtaining Direct Non-Measurable Components of the State Vector in Crane Control

“…Planar models are used most frequently. They are used also in articles [2][3][4][5][6][7][8][9][10][11][12]. They are relatively simple and provide usable results.…”

“…Approaches to measuring the angle of vibration are generally discussed in [1]. Specific solutions for the laboratory crane are described in [2,3,5] and [8]. An innovative approach to estimate the vibration angle of load without measurement is given in [5].…”

“…With a relatively small length displacement of the load, the vibration angle is significant. Articles [2,3,5] take the angle measurement for a short rope. In this article, the vibration angle is measured.…”

“…Analog values are converted to digital using AD converter. Calculation of the action variable using vector of controller parameters or control gain matrix, as in articles [3,4,18], then the calculation is very simple. The control of light damped systems, in this case beams, is also discussed in the publication [21].…”