Title

Control of Overhead Cranes Using a Fuzzy Logic Controller

Document Type

Article

Abstract

Transportation of massive loads using overhead cranes can excite undesirable payload swinging. These oscillations have to be damped before other payload manipulation is done. A fuzzy logic controller moves the overhead crane along a desired path while ensuring that the payload is swing-free at the end of the motion. The control action is divided between displacement and swing controllers to enable tuning the controllers. The fuzzy controller is used with a swing-damped bang-bang motion profile based on the natural frequency of the payload is used that ensures that large amplitudes are not excited. Examples, along with comparisons with a PD controller, are included. Experimental implementation of the proposed controller is presented.

Disciplines

Acoustics, Dynamics, and Controls | Applied Mathematics | Artificial Intelligence and Robotics | Computer-Aided Engineering and Design | Controls and Control Theory | Control Theory | Electrical and Computer Engineering | Mechanical Engineering

Permissions

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