Design of a fuzzy logic controller for swing-damped transport of an overhead crane payload
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.