The mathematical model of the three-dimensional crane using the Euler-Lagrange approach is derived. A state-space representation of the derived model is proposed and explored in the Simulink® environment and on the laboratory stand. The obtained control design was simulated, analyzed and compared with existing encoder-based system provided by the three-dimensional (3D) Crane manufacturer Inteco®. As well, an anti-swing fuzzy logic control has been developed, simulated, and analyzed. Obtained control algorithm is compared with the existing anti-swing proportional-integral controller designed by the 3D crane manufacturer Inteco®. 5-degree of freedom (5DOF) control schemes are designed, examined and compared with the various load masses. The topicality of the problem is due to the wide usage of gantry cranes in industry. The solution is proposed for the future research in sensorless and intelligent control of complex motor driven application.
Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic
31.12.2015
The Scientific Journal of Riga Technical University - Electrical, Control and Communication Engineering; Vol 9 (2015): The Scientific Journal of Riga Technical University - Electrical, Control and Communication Engineering; 5-13 ; 2255-9159 ; 2255-9140
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Anti-swing control system of crane and anti-swing control method
Europäisches Patentamt | 2015
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