scholarly journals Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

2016 ◽  
Vol 2016 ◽  
pp. 1-17 ◽  
Author(s):  
Naif B. Almutairi ◽  
Mohamed Zribi
Keyword(s):  
Fuzzy Controller ◽  
Experimental Results ◽  
Gantry Crane ◽  
Pd Controller ◽  
Fuzzy Controllers ◽  
Swing Angle ◽  
Control Schemes ◽  
Control Objective ◽  
Simulation Results ◽  
Gantry Cranes

The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.

Simulation and experimental results of an unmanned towed system

2020 ◽  
Vol 234 (15) ◽  
pp. 2167-2185
Author(s):  
Nghia Huynh ◽  
Carlos Montalvo
Keyword(s):  
Flight Dynamics ◽  
Experimental Results ◽  
State Model ◽  
Small Scale ◽  
Experimental Setup ◽  
Pd Controller ◽  
Full State ◽  
Main Driver ◽  
Simulation Results ◽  
Small Instrument

This report investigates the flight dynamics of a small-scale (2 ft) towed system using a quadcopter and actively controlled payload. A towed system includes a main driver to propel the system forward connected to a payload via a tether. The towed system here is unique, and in that the driver is a scratch built quadcopter while the payload is also a scratch built actively controlled aircraft. The payload is designed to carry a small instrument that must be sufficiently far away from all interferences created by a quadcopter. A fully non-linear full state model is created and utilized to reveal that oscillations in the payload are decreased with the introduction of a PD controller on the payload. An experimental setup is built to validate simulation results. Experiments show that an actively controlled payload can decrease the attitude oscillations of the payload.

Control Optimisation of Overhead Gantry Cranes via Fuzzy Controllers

2021 ◽  
pp. 302-321
Author(s):  
Ashwani Kharola
Keyword(s):  
Gantry Crane ◽  
Membership Functions ◽  
Overhead Crane ◽  
Fuzzy Controllers ◽  
Triangular Shape ◽  
Simulink Model ◽  
Control Optimisation ◽  
Load Swing ◽  
Gantry Cranes ◽  
Varying Mass

This study considers a fuzzy logic-based reasoning approach for control and optimising performance of overhead gantry crane. The objective of this study is to minimise load swing and to stabilise the crane in the least possible time. The fuzzy controllers were designed using nine Gaussian and triangular shape membership functions. The results clearly confirmed the effect of shape of memberships on performance of fuzzy controllers. Performance of overhead crane was measured in terms of settling time and overshoot ranges. The study also demonstrates the influence of varying mass of the load, mass of crane, and length of crane bar on stability of the crane. A mathematical model of the crane system has been derived to develop a simulink model of proposed system and performing simulations.

Performance Evaluation of the Optimal Control of a Gantry Crane

2003 ◽  
Author(s):  
Zhonghua Wang ◽  
Brian Surgenor
Keyword(s):  
Optimal Control ◽  
Performance Evaluation ◽  
Absolute Error ◽  
Experimental Results ◽  
Gantry Crane ◽  
Minimal Energy ◽  
Linear Quadratic ◽  
Optimal Linear ◽  
Payload Mass ◽  
Gantry Cranes

For a gantry crane, optimal control of the crane motion requires that the speed of the cart be maximized, and the swing of the hanging payload be minimized. The problem lends itself naturally to optimal linear quadratic (LQ) controllers. This paper examines the performance of four different approaches to the design of an LQ controller, including two optimization approaches as based on: 1) minimal energy of cart and payload and 2) integrated absolute error of payload angle. Both simulation and experimental results are presented. A demonstration is also given as to how the results taken from laboratory scale gantry crane experiments must be treated with caution. Laboratory based studies have generally worked with systems where the moving cart mass is much larger than the suspended payload mass. In the case of industrial scale gantry cranes, the reverse can be true. This has implications with respective to the robustness of the controller. In the case where the cart mass is much greater than the payload mass, the effect of the payload on the cart is correctly neglected. However, there are stability implications if this is not the case. The implications with respect to the tuning of LQ controllers for this application are discussed.

Performance Evaluation of the Optimal Control of a Gantry Crane

Volume 1 ◽  
2004 ◽  
Author(s):  
Zhonghua Wang ◽  
Brian Surgenor
Keyword(s):  
Optimal Control ◽  
Performance Evaluation ◽  
Absolute Error ◽  
Experimental Results ◽  
Gantry Crane ◽  
Minimal Energy ◽  
Linear Quadratic ◽  
Optimal Linear ◽  
Payload Mass ◽  
Gantry Cranes

For a gantry crane, optimal control of the crane motion requires that the speed of the cart be maximized, and the swing of the hanging payload be minimized. The problem lends itself naturally to optimal linear quadratic (LQ) controllers. This paper examines the performance of four different approaches to the design of an LQ controller, including two optimization approaches as based on: 1) minimal energy of cart and payload and 2) integrated absolute error of payload angle. Both simulation and experimental results are presented. A demonstration is also given as to how the results taken from laboratory scale gantry crane experiments must be treated with caution. Laboratory based studies have generally worked with systems where the moving cart mass is much larger than the suspended payload mass. In the case of industrial scale gantry cranes, the reverse can be true. This has implications with respective to the robustness of the controller. In the case where the cart mass is much greater than the payload mass, the effect of the payload on the cart is correctly neglected. However, there are stability implications if this is not the case. The implications with respect to the tuning of LQ controllers for this application are discussed.

Beyond Pull-In Stabilization of Dual Axis Micromirrors Using Fuzzy Controllers

2010 ◽  
Author(s):  
Hamid Moeenfard ◽  
Mohammad Taghi Ahmadian ◽  
Ali Soroush ◽  
Aria Alasty
Keyword(s):  
Dynamic Model ◽  
Rise Time ◽  
Fuzzy Controller ◽  
System Behavior ◽  
Fuzzy Controllers ◽  
Strongly Nonlinear ◽  
Dynamics And Control ◽  
Simulation Results ◽  
And Control ◽  
Short Rise Time

Dual axis micromirrors are actuated using strongly nonlinear electrostatic actuation and their operating range suffers from the pull-in problem. So investigation of their dynamics and control issues has become a challenge for the researchers. The current paper makes use of fuzzy controllers for the purpose of stabilizing the dual axis micromirror at the desired tilt angles beyond pull-in. At first the dynamic model of the micromirror is presented. Then for the purpose of finding the linguistic laws governing the system behavior, several step voltages are introduced to the system. The proposed fuzzy controller consists of singleton fuzzifier, product inference engine and center average defuzzifier. It was observed from the simulation results that the presented controller can effectively and immediately stabilize and control the micromirror tilt angles beyond pull-in, with a short rise time and also a short overshoot.

Modeling and Analysis of an Gantry Crane with Flexible Cable

2013 ◽  
Vol 753-755 ◽  
pp. 1054-1059
Author(s):  
Wen Zheng Du ◽  
Zheng Xie
Keyword(s):  
Operating Conditions ◽  
Gantry Crane ◽  
Dynamics Model ◽  
Coupled Dynamics ◽  
Modeling And Analysis ◽  
Flexible Cable ◽  
Simulation Results ◽  
Set Up ◽  
Two Parameters ◽  
Gantry Cranes

This paper introduces a novel mathematical model that using the Hamiltons' principle to set up coupled dynamics model of gantry cranes with flexible cable. By using finite element method to solve the equations that govern the motion of the crane system. Numerical simulations for the coupled dynamics model are presented for various operating conditions, and compared to the simulation results of the model with cranes made with rigid cable under the same working conditions. From the consequence, we can get the effects of cable's flexibility on gantry crane's kinematical properties; According to the conclusions, this paper defines two parameters of the gantry cranes, and qualitatively analyzes the two parameters' effects on dynamics kinematical properties of gantry cranes.

Simulation of carding condensing process

2021 ◽  
pp. 004051752098812
Author(s):  
Xixi Qian ◽  
Yuanying Shen ◽  
Qiaoli Cao ◽  
Jun Ruan ◽  
Chongwen Yu
Keyword(s):  
Experimental Results ◽  
Simulation Results ◽  
Carding Machine ◽  
The Web

A simulation describing the fiber movement during the condensation was conducted, and the effect of the condensation in the carding machine was studied. The simulation results showed that the condensation has the blending and the evening effect on the condensed sliver, which can be explained by the fiber rearrangement. Moreover, the increasing web width and the decreasing condensing length can result in a more uniform sliver. Further, the evening effect of the web width on the web was verified by experiments. The simulation results were in general agreement with the experimental results.

scholarly journals Stability and Manoeuvrability Simulation of a Semi-Autonomous Submarine Free-Running Model SUBOFF with an Autopilot System

2021 ◽  
Vol 11 (1) ◽  
pp. 410
Author(s):  
Yu-Hsien Lin ◽  
Yu-Ting Lin ◽  
Yen-Jun Chiu
Keyword(s):  
Optimal Control ◽  
Experimental Tests ◽  
Degree Of Freedom ◽  
Line Of Sight ◽  
Pd Controller ◽  
Free Running ◽  
Simulation Results ◽  
Guidance Algorithm ◽  
Logic Operations ◽  
Six Degree Of Freedom

On the basis of a full-appendage DARPA SUBOFF model (DTRC model 5470), a scale (λ = 0.535) semi-autonomous submarine free-running model (SFRM) was designed for testing its manoeuvrability and stability in the constrained water. Prior to the experimental tests of the SFRM, a six-degree-of-freedom (6-DOF) manoeuvre model with an autopilot system was developed by using logic operations in MATLAB. The SFRM’s attitude and its trim polygon were presented by coping with the changes in mass and trimming moment. By adopting a series of manoeuvring tests in empty tanks, the performances of the SFRM were introduced in cases of three sailing speeds. In addition, the PD controller was established by considering the simulation results of these manoeuvring tests. The optimal control gains with respect to each manoeuvring test can be calculated by using the PID tuner in MATLAB. Two sets of control gains derived from the optimal characteristics parameters were compared in order to decide on the most appropriate PD controller with the line-of-sight (LOS) guidance algorithm for the SFRM in the autopilot simulation. Eventually, the simulated trajectories and course angles of the SFRM would be illustrated in the post-processor based on the Cinema 4D modelling.

Researches Regarding the Use of Fuzzy Controllers within CNC Feed Drives

2015 ◽  
Vol 772 ◽  
pp. 229-234
Author(s):  
Radu Eugen Breaz ◽  
Octavian Bologa
Keyword(s):  
Machine Tool ◽  
Fuzzy Controller ◽  
Cnc Machine Tool ◽  
Cnc Machine ◽  
Fuzzy Controllers ◽  
Feed Drive ◽  
Feed Drives ◽  
Simulation Based ◽  
Position Controller ◽  
Dc Servomotor

This paper presents some simulation based upon a dynamic model of a feed-drive within the structure of a CNC machine tool. A DC servomotor was considered as actuation device for the feed drive. For a given set of parameters for the position controller, two fuzzy types of fuzzy controllers were tested by means of simulation. The first fuzzy controller was a proportional one, with one input and one output, while the second one was a two variables one, with two inputs and one outputp.

A Design Method of LS-SVM Based Stable Adaptive Controller for a Class of Nonlinear Systems

2011 ◽  
Vol 48-49 ◽  
pp. 17-20
Author(s):  
Chun Li Xie ◽  
Tao Zhang ◽  
Dan Dan Zhao ◽  
Cheng Shao
Keyword(s):  
Nonlinear Systems ◽  
Design Method ◽  
Nonlinear Function ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Control Law ◽  
Continuous Systems ◽  
Control Schemes ◽  
Closed Systems ◽  
Simulation Results

A design method of LS-SVM based stable adaptive controller is proposed for a class of nonlinear continuous systems with unknown nonlinear function in this paper. Due to the fact that the control law is derived based on the Lyapunov stability theory, the scheme can not only solve the tracking problem of this class of nonlinear systems, but also it can guarantee the asymptotic stability of the closed systems, which is superior to many LS-SVM based control schemes. The effectiveness of the proposed scheme is demonstrated by simulation results.

Sign in / Sign up

Export Citation Format

Share Document