Adaptive fuzzy sliding mode control for gantry crane as varying rope length

Abstract

Gantry crane is used quite commonly in hazardous areas, which increasingly requires strict conrol of the gantry crane operation process to improve efficiency and ensure safe gantry crane opeartion. Automated the gantry crane operating process is being applied pupular currently. Gantry crane is often affected by large noise, having the varying-model parameters, so that proposed a apdaptive fuzzy combining sliding mode controller for the gantry crane in this article. This control method derived from combining the sliding surfaces of three subsystem of the gantry crane (trolley position, rope length, anti-swing) to draw out two system sliding surfaces: the trolley positon with the anti-swing and the rope length and the anti-swing. On the based of the sliding mode control principle,drawn out the equivalent controller and the switching controller for gantry crane. But due to the uncertain parameters-nonlinear model of gantry crane with the bound disturbances, combining the fuzzy approximate method, defined the fuzzy controller (used to minic the equivalent controller) and the compensation controller for the difference between the equivalent controller and the fuzzy controller (used as the switching controller) for two system control inputs: trolley position and rope length The adaptive control laws for these controllers were deduced from Lyapunov's stable criteria to asymptotically stabilize the sliding surfaces. Simulation results demonstrated the feasibility of the suggested method through grantry crane in the hazard areas. Keyword: gantry crane, adaptive controller, adaptive fuzzy controller, sliding mode control, varying rope length I. INTRODUCTION In recent years, many modern gantry cranes have brought to the increasingly common use in the transport industry for loading and unloading of goods, in the construction industry to move materials or in the manufacturing industry to assembly of heavy equipments that can not use human power. According to the traditional operation way, as moving the trolley, the hoisting rope length is fixed. However in some cases, to reduce the transportation process time, we can operate simultaneously the gantry crane moving the trolley and lifting/lowering the payloads. This will increase the risk of unsafety for people and equipments because of oscillating of the package. Although following on experimented operators, can reduce the oscillation of the payload, but that would add reducing the efficiency of freight. Therefore, automating the gantry crane operation process to enhance accuracy simultaneously for moving the trolley and lifting/lowering payload, anti-swing angle of payload, reducing transportation time, increasing safety during crane operation , is essential and is also the most basic requirements of the gantry crane operation. Control proplem of the grantry crane is always attractive in many science reseachers and have been published on many papers in prestige science journals. Allmost of controlllers of the grantry crane are designed based on the nonlinear model or the line...