Fuzzy antiswing crane controllers
Crane operation for handling a heavy load inherently causes a swinging motion at the load due to acceleration or deceleration of the crane. This swing not only diminishes handling safety but also makes the load-handling time longer because the swing should be fully damped before proceeding to the next step of operation. Recently, the iron and steel industries have demanded new transportation technologies for the efficient and safe handling of heavy material such as hot coils. The Nuclear Environment Management Center (NEMAC) subsidiary institute of Korea Atomic Energy Research Institute (KAERI) has developed several types of antiswing controllers for this demand. One of these controllers, which adopts fuzzy logic, has been transferred to these industries, including POSCO, the largest iron and steel company in Korea, and several other commercial product companies. In this paper, design procedures of the fuzzy controller and its implementation results are described. The fuzzy controller consists of three sequential stages in which fuzzy variables are automatically changed as follows: (1) The fuzzy acceleration controller is designed to rapidly reach the desired initial velocity. As input fuzzy variables, the velocity error (between the desired velocity and the actual velocity) and the distance error (difference between the desired distance at the acceleration stage and actual distance) are adopted. (2) The fuzzy antiswing controller is designed to rapidly damp out the swing angle. In this controller the error and error change between the actual swing angle of the load and the pre-specified swing angle are adopted as input variables. (3) The fuzzy stop position controller is designed for precise positioning of the crane while damping out the residual swings before and after crane stops. In this controller all of the preceding variables, velocity, position, and swing errors are adopted as input fuzzy variables.
- OSTI ID:
- 89314
- Report Number(s):
- CONF-941102-; ISSN 0003-018X; TRN: 95:004215-0391
- Journal Information:
- Transactions of the American Nuclear Society, Vol. 71; Conference: Winter meeting of the American Nuclear Society (ANS), Washington, DC (United States), 13-18 Nov 1994; Other Information: PBD: 1994
- Country of Publication:
- United States
- Language:
- English
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