DOI QR코드

DOI QR Code

A Fuzzy-Logic Anti-Swing Control for Three-Dimensional Overhead Cranes

Fuzzy 로직에 의한 3차원 천정크레인의 무진동 제어

Lee, Ho-Hun;Kim, Hyeon-Gi
이호훈;김현기

  • Published : 2001.09.01

Abstract

In this paper, a new fuzzy-logic anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control the trolley position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of trolley position and rope length for the simultaneous travel, traverse, and hoisting motions of the crane. The effectiveness of the proposed control is shown by experiments with a prototype three-dimensional overhead crane.

Keywords

Three-Dimensional Overhead Crane;Two-Degree-of-Freedom Swing Angle;Anti-Swing Control;Servo Control;Loop Shaping Method;Fuzzy Control

References

  1. Doyle, J. C, Francis, B. A., and Tannenbaum, A. R., 1992, Feedback Control Theory, Macmillan Publishing Company
  2. Lee, H.-H., 1998, 'Modeling and Control of a Three-Dimensional Overhead Crane,' ASME Trans., J. of Dyn. Sys., Meas., and Cont., Vol. 120. No. 4, pp. 471-476
  3. Ohnishi, E., Tsuboi, I., Egusa, T., and Uesugi, M., 1981, 'Automatic Control of an Overhead Crane,' IFAC World Congress, Kyoto, Japan, pp 1885-1890
  4. Lee, H.-H., Cho, S.-K., and Cho, J.-S., 1997, 'A New Anti-Swing Control of Overhead Cranes,' Proc. of IFAC Int. Workshop on Auto. in the Steel Industry, Korea, pp. 137-142
  5. 이호훈, 조성근, 1997, '천정크레인 부하의 위치 및 흔들림 제어,' 대한기계학회논문집(A), 제21권, 제2호, pp. 297-304
  6. 이호훈, 조성근, 1997, '2차원 천정크레인의 위치 및 부하의 흔들림 제어,' 대한기계학회논문집(A), 제21권, 제10호, pp. 1683-1693
  7. Mita, T. and Kanai, T., 1979, 'Optimal Control of the Crane System Using the Maximum Speed of the Trolley,' 日本 計測自動化制御學會論文集, pp. 125-130
  8. Ridout, A. J., 1987, 'New Feedback Control System for Overhead Cranes,' Electric Energy Conference, Adelaide, pp. 135-140