Award Date

1-1-2000

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

Number of Pages

192

Abstract

Transportation using overhead cranes can excite undesirable payload swinging. These oscillations have to be damped before other payload manipulation is done. A swing-damped motion profile based on the natural frequency of the payload is used to minimize swing excitation. In addition, a fuzzy logic controller is used to move 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 simplify controller tuning for optimal performance. Examples, along with comparisons with a PD controller, are included, as well as related experimental development.

Keywords

Controller; Crane; Damped; Design; Fuzzy; Logic; Overhead; Payload; Swing; Transport

Controlled Subject

Mechanical engineering; Electrical engineering; Artificial intelligence

File Format

pdf

File Size

5867.52 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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