Design of Fuzzy PD-Controlled Overhead Crane System with Anti-Swing Compensation

Asad, Shebel; Salahat, Maazouz; Zalata, Mohammed Abu; Alia, Mohammad; Rawashdeh, Ayman Al

doi:10.4236/eng.2011.37091

Cited by 10 publications

(9 citation statements)

References 4 publications

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“…These dynamic functions are used only for simulations. This is the best advantage of the proposed control method than a lot of nonlinear control methods [3][4][5][6][7][8][9][10][11][12][13][14][15].…”

Section: Simulation Resultsmentioning

confidence: 99%

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

Mien¹

2016

IJET

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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...

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Section: Simulation Resultsmentioning

confidence: 99%

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

Mien¹

2016

IJET

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“…Before the model linearization, a hypothesis for simple analysis will be assumed; the rotation angle would be kept small and order of magnitude analysis would be performed which was assumed in Ref. [1] as follows:…”

Section: Linearization Of the Equations Of Motionmentioning

confidence: 99%

“…After simplification, linearization, and OMA, one can obtain the dynamic model. The main model feature is its ability to match the actual system's nonlinear terms such as (position of the cart and swaying angle) [1]. Qian, et al [17] Controlled the OHC which is a double-pendulum-type system using Fuzzy Logic.…”

Section: Introductionmentioning

confidence: 99%

Umerical Evaluation of the Effect of Combined Pendulum Tuned Mass Damper on a Basic Vibrating System

2018

IJOMAM

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There are many engineering applications utilizing Tuned Mass Damper (TMD), Pendulum Tuned Mass Damper (PTMD) and Combined Pendulum Tuned Mass Damper (CPTMD) in order to alleviate the response of the buildings exposed to catastrophes, strong wind, and earthquake vibrations. The objective of this work is to study the effect of the added Combined Pendulum Tuned Mass Damper (CPTMD) on the vibrating system and to investigate if the added CPTMD will help in damping out the vibrations arises from any excitation source like wind force or from seismic earthquake force. The proposed basic system was modelled mathematically to get the governing Equations of Motion according to Lagrange's equation where the whole system was described by three Degrees of Freedom two translation and one rotation. A parametric study was conducted with different values of constants for the springs and dampers and a simplified model has been derived after making linearization and order of magnitude analysis (OMA). The three Degree of Freedom (DOF) system was put in state-space format before being simulated using (MATLAB © ). Output graphs and curves have been obtained and discussed.

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“…Even though that assumption makes a model simpler, the linearized model could not be close enough to actual crane model, [5]. In this research, at equilibrium p oint of load swing, both are considered as small and assumed as , , [12]. Using these approximations, the mathematical model (3)…”

Section: Linearization Using Simple Assumptionmentioning

confidence: 99%

“…In this case, fullstate feedback reference input tracking would be used. The following equations, Equ (12) and Equ (13), and figures, Fig (12,a) and Fig(12,b) explain the pre-compensation calculation. Fullstate feedback controller form is;…”

Section: Reference Point Tracking With Full State Feedback Controlmentioning

confidence: 99%

Simmechanics Visualization of Experimental Model Overhead Crane, Its Linearization And Rerence Tracking-Lqr Control

Win¹,

Hisketch²,

Eaton³

2013

IJCCMS

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Design of Fuzzy PD-Controlled Overhead Crane System with Anti-Swing Compensation

Cited by 10 publications

References 4 publications

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

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

Umerical Evaluation of the Effect of Combined Pendulum Tuned Mass Damper on a Basic Vibrating System

Simmechanics Visualization of Experimental Model Overhead Crane, Its Linearization And Rerence Tracking-Lqr Control

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