Adaptive Intelligent Control for Three Dimensional Overhead Crane Position and Anti-swing Implementation

• Main Authors: YEH, JIAN-LIN, 葉建麟
• Other Authors: LIN, TSUNG-CHIH
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/yp264j

碩士 === 逢甲大學 === 電子工程學系 === 106 === This thesis is mainly based on adaptive intelligent control method for three-dimensional overhead crane system. The design objective is to resolve issues related to the need for system dynamic models in the design of conventional controllers; for this purpose, a fuzzy logic system was used in the controller’s design. The advantage of fuzzy logic systems is that they provide an effective system architecture, which can be used to process the semantic fuzzy information contained in the human descriptions of a problem. The concept of adaptive control has also been integrated within the controller’s design. The purpose of this feature is to maintain a level of control even when the processing system’s parameters and architecture are in a state of uncertainty. The back propagation algorithm was used as the controller’s learning algorithm; however, the use of this algorithm usually requires the use of an external system identifier to obtain the system’s sensitivity in order to provide the fuzzy logic controller with parameters for adjustment and calibration. As the sensitivity of a system cannot be obtained easily, we used a method by which the system’s sensitivity and orientation were approximated. This sidesteps the need for system identifiers and simplifies the required calculations. And the concept of motion planning is applied when setting the tracking target, so that the safety of movement is further improved. Finally, real-time control experiments were performed on a laboratory three-dimensional overhead crane system, using loads of varying weight, in order to validate the viability and effectiveness of the adaptive fuzzy logic controller designed in this study.