Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation
We designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is des...
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2005-01-01
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Series: | Shock and Vibration |
Online Access: | http://dx.doi.org/10.1155/2005/890127 |
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doaj-1043c56dbca34c288188b86432f59db12020-11-25T01:00:58ZengHindawi LimitedShock and Vibration1070-96221875-92032005-01-01122738910.1155/2005/890127Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction CompensationH.M. Omar0A.H. Nayfeh1Department of Aerospace Engineering, King Fahd University of Petroleum and Minerals, P.O. Box 5079, Dhahran 31261, Saudi ArabiaDepartment of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USAWe designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is designed based on two techniques: a time-delayed feedback of the load swing angle and an anti-swing fuzzy logic controller (FLC). The rules of the FLC are generated by mapping the performance of the time-delayed feedback controller. The same mapping method used for generating the rules can be applied to mimic the performance of an expert operator. The control algorithms were designed for gantry cranes and then extended to tower cranes by considering the coupling between the translational and rotational motions. Experimental results show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction and then applied a control action to cancel it. The friction force was estimated by assuming a mathematical model and then estimating the model coefficients using an off-line identification technique, the method of least squares (LS).http://dx.doi.org/10.1155/2005/890127 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
H.M. Omar A.H. Nayfeh |
spellingShingle |
H.M. Omar A.H. Nayfeh Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation Shock and Vibration |
author_facet |
H.M. Omar A.H. Nayfeh |
author_sort |
H.M. Omar |
title |
Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation |
title_short |
Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation |
title_full |
Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation |
title_fullStr |
Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation |
title_full_unstemmed |
Anti-Swing Control of Gantry and Tower Cranes Using Fuzzy and Time-Delayed Feedback with Friction Compensation |
title_sort |
anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation |
publisher |
Hindawi Limited |
series |
Shock and Vibration |
issn |
1070-9622 1875-9203 |
publishDate |
2005-01-01 |
description |
We designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is designed based on two techniques: a time-delayed feedback of the load swing angle and an anti-swing fuzzy logic controller (FLC). The rules of the FLC are generated by mapping the performance of the time-delayed feedback controller. The same mapping method used for generating the rules can be applied to mimic the performance of an expert operator. The control algorithms were designed for gantry cranes and then extended to tower cranes by considering the coupling between the translational and rotational motions. Experimental results show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction and then applied a control action to cancel it. The friction force was estimated by assuming a mathematical model and then estimating the model coefficients using an off-line identification technique, the method of least squares (LS). |
url |
http://dx.doi.org/10.1155/2005/890127 |
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