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Generalized design of an anti-swing fuzzy logic controller for an overhead crane with hoist

Generalized design of an anti-swing fuzzy logic controller for an overhead crane with hoist
Generalized design of an anti-swing fuzzy logic controller for an overhead crane with hoist
The behavior of many mechanical systems, such as overhead cranes, can be predicted through intuitive observation of their motion under various forces. Mathematical modeling of an overhead crane shows that it is highly coupled. Nonetheless, it is surprisingly easy for an experienced crane operator to drive payloads to target positions with minimal cable swing. This observation naturally promotes the use of fuzzy logic to control overhead cranes. Traditionally, fuzzy logic controllers of overhead cranes were presented for specific crane system/motion parameters. This work presents a novel approach for automatically creating anti-swing fuzzy logic controllers for overhead cranes with hoisting. The model of the crane includes the distributed mass of the cable. The presented approach uses the inverse dynamics of the overhead crane and the desired motion parameters to determine the ranges of the variables of the controllers. The control action is distributed among three fuzzy logic controllers (FLCs): The travel controller, hoist controller, and anti-swing controller. Simulation examples show that the proposed controller can successfully drive overhead cranes under various operating conditions.
overhead cranes, fuzzy logic control, anti-swing control, hoisting, inverse dynamics
1077-5463
319-346
Trabia, Mohamed B.
79601ff3-d990-490c-b85e-9ab63122133c
Renno, Jamil M.
132f3c49-a612-4ccc-8772-293c8e015d1c
Moustafa, Kamal A.F.
6f0f72db-ec10-4222-9239-6cbdff6b47bb
Trabia, Mohamed B.
79601ff3-d990-490c-b85e-9ab63122133c
Renno, Jamil M.
132f3c49-a612-4ccc-8772-293c8e015d1c
Moustafa, Kamal A.F.
6f0f72db-ec10-4222-9239-6cbdff6b47bb

Trabia, Mohamed B., Renno, Jamil M. and Moustafa, Kamal A.F. (2008) Generalized design of an anti-swing fuzzy logic controller for an overhead crane with hoist. Journal of Vibration and Control, 14 (3), 319-346. (doi:10.1177/1077546307080025).

Record type: Article

Abstract

The behavior of many mechanical systems, such as overhead cranes, can be predicted through intuitive observation of their motion under various forces. Mathematical modeling of an overhead crane shows that it is highly coupled. Nonetheless, it is surprisingly easy for an experienced crane operator to drive payloads to target positions with minimal cable swing. This observation naturally promotes the use of fuzzy logic to control overhead cranes. Traditionally, fuzzy logic controllers of overhead cranes were presented for specific crane system/motion parameters. This work presents a novel approach for automatically creating anti-swing fuzzy logic controllers for overhead cranes with hoisting. The model of the crane includes the distributed mass of the cable. The presented approach uses the inverse dynamics of the overhead crane and the desired motion parameters to determine the ranges of the variables of the controllers. The control action is distributed among three fuzzy logic controllers (FLCs): The travel controller, hoist controller, and anti-swing controller. Simulation examples show that the proposed controller can successfully drive overhead cranes under various operating conditions.

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More information

Published date: March 2008
Keywords: overhead cranes, fuzzy logic control, anti-swing control, hoisting, inverse dynamics

Identifiers

Local EPrints ID: 71462
URI: http://eprints.soton.ac.uk/id/eprint/71462
ISSN: 1077-5463
PURE UUID: 0a81f716-9096-4638-8ba0-bdbffda593c4

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Date deposited: 11 Feb 2010
Last modified: 13 Mar 2024 20:27

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Contributors

Author: Mohamed B. Trabia
Author: Jamil M. Renno
Author: Kamal A.F. Moustafa

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