As for shortcomings of PID and modern control method in crane anti-swing system, we introduce the fuzzy theory to the crane anti-swing on base of analyzing the crane trolley’s moving dynamic model. The cooperation between the position fuzzy controller and swing fuzzy controller achieve the goal. We use the fuzzy control system of self-adjustable quantization factors and scale factors to solve the problem that have the oscillation in limit areas causing the load lasting swing during the trolley moving position control. According to the simulation, it can solve the problem and eliminate the steady-state error completely and improve enhance the adaptivity of system. It can make the trolley reach the designation in 15s and keep the load steady.
Swing-free transporting of two-dimensional overhead crane using sliding mode fuzzy control
