Authors: Jamaludin Jalani
This paper presents a control strategy to overcome positioning control and anti-swing control for a 3 Degree-of-Freedom (D.O.F) crane system. It is well known that the 3 D.O.F crane system is a type of machine, generally equipped with a hoist, wire ropes or chains, and sheaves. It can be used to lift and lower materials and to move them horizontally. However, controlling the 3 D.O.F crane systems requires a good control method to achieve a high positioning control and in particular to suppress swing that produced during operation. Hence, choosing an appropriate control to resolve positioning control and swing angle is not a trivial task in particular to transfer payloads quickly, effectively and safely. Presently, the existing of 3 DOF systems used a conventional PID controller to control position and swing angle. The controllers were designed based on the model and parameter of the crane system. In general, modelling and parameter identifications are troublesome and time consuming. Therefore, we propose a Fuzzy Logic Control (FLC) which has simpler and practical design approach. Effectively, it is anticipated that the FLC can be used to avoid a complex mathematical calculation which is always time consuming. In addition, the model derivation is often inaccurate due to the presence of nonlinearities and uncertainties. Throughout this paper, the FLC performances are compared with PID controller through experiment. The results showed that FLC has produced good result for positioning and anti-swing control for 3 D.O.F. crane system.
Comments: 9 Pages.
[v1] 2012-08-19 07:18:43
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