| Summary: | 碩士 === 國立勤益科技大學 === 電子工程系 === 97 === The industrial crane is very common and crucial tool in factories, ports of call, and storage warehouses of a container yard. Stable control of a crane without shaking the goods to be delivered (container) is hard work. In this paper, we design a fuzzy controller to achieve an anti-swing crane system under positioning with load for the features non-linear and uncertain of crane. In order to demonstrate its effectiveness, we designed a model that reduces the dimensions of the crane and carried out experiments. After simulated trolley running and load swing, evidence shows that our system’s application of image processing framework of visual feedback have location tracking and swing-limiting features. Simulations show that the proposed control scheme ensures asymptotic stability, precise trolley positioning, and good performance regarding the load-swing dynamics during load transfer.
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