Optimal Anti-swing Control of an Overhead Crane Using Fuzzy-blended Strategy
碩士 === 長庚大學 === 機械工程研究所 === 97 === The purpose of this thesis is to develop a robust and practical controller to guide an experimental overhead crane system to achieve anti-swing transportation of payloads. Kinematic equation of the system with the servo motor in speed control mode is derived firstl...
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| Format: | Others |
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2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/09885947736098772451 |
| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 97 === The purpose of this thesis is to develop a robust and practical controller to guide an experimental overhead crane system to achieve anti-swing transportation of payloads. Kinematic equation of the system with the servo motor in speed control mode is derived firstly. The model takes restrictions on achievable acceleration into consideration. And then a fuzzy-blended PD controller with optimal reference path is found by parallel genetic algorithms. Finally, the controller is implemented in a dSPACE DS1104 control board for experiments. Experimental results are consistent with simulation results, validating robustness and effectiveness of the controller, and correctness of the model.
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