Anti-swing Fuzzy Controller Design for a 3D Overhead Crane

الموضوعات :

Mohammad Saadat ¹ (Department of Mechanical Engineering, Faculty of Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Isfahan, Iran .)

تاريخ الإرسال : 03 الإثنين , ربيع الأول, 1437 تاريخ التأكيد : 03 الإثنين , ربيع الأول, 1437 تاريخ الإصدار : 12 الجمعة , رجب, 1436

الکلمات المفتاحية: Fuzzy controller, Overhead crane, Swingangle,

ملخص المقالة :

This paper proposes a simple but efficient technique to control 3D overhead crane. Load must track a desired path and not sway more than a reasonable range.The proposed method uses PID control for trolley to track the desired path and fuzzy control compensation to eliminate the load swing. Only the projection of swing angle is applied to design the fuzzy controller. No plant information of crane is necessary in this approach. Therefore, the proposed method greatly reduces the computational efforts. Effectiveness of the proposed method is illustrated through a simulated examp