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.

Automated Control and Optimisation of Overhead Cranes

2017 ◽  
Vol 7 (3) ◽  
pp. 41-68
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Gantry Crane ◽  
Automated Control ◽  
Computing Technique ◽  
Fuzzy Controllers ◽  
Overhead Cranes ◽  
Triangular Shape ◽  
Simulink Model ◽  
Load Swing ◽  
Varying Mass ◽  
Load Mass

This study considers a fuzzy based computing technique for control and optimising performance of overhead gantry crane. The objective is to minimise load swing and stabilise crane position 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. 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.

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.

Research on Nonlinear Coupled Tracking Controller for Double Pendulum Gantry Cranes With Load Hoisting/lowering

2021 ◽  
Author(s):  
Huaitao Shi ◽  
Fuxing Yao ◽  
Zhe Yuan ◽  
Shenghao Tong ◽  
Yinghan Tang ◽  
...  
Keyword(s):  
External Disturbance ◽  
Good Control ◽  
System Stability ◽  
Gantry Crane ◽  
Double Pendulum ◽  
Theoretical Derivation ◽  
Pendulum Swing ◽  
Smooth Tracking ◽  
Load Swing ◽  
Gantry Cranes

Abstract Gantry cranes, which have attracted extensive attention, are mostly simplified as nonlinear single pendulum systems without load hoisting/lowering. However, in fact, due to the existence of the hook, gantry cranes produce double pendulum swing. With an extra underactuated degree of freedom, the anti-swing control of the double pendulum gantry cranes becomes more difficult than that of single pendulum gantry cranes, especially when load hoisting/lowering is considered simultaneously. Moreover, large swings, which lead to problems such as inaccurate positioning and low transportation efficiency, may be caused by double pendulum gantry cranes with load hoisting/lowering. In this paper, a nonlinear coupled tracking anti-swing controller is proposed to solve these problems. In this controller, a smooth tracking trajectory is introduced to ensure the stable start and run of the trolley, and a coupled signal is constructed to eliminate the residual swing angles of gantry crane system. The system stability is analyzed by using Lyapunov method and Barbarat theorem. Theoretical derivation, simulation and experimental results show that the proposed controller has excellent control performance, specifically, not only does it ensure accurate positioning of the load, but also it suppresses and eliminates the hook/load swing angle effectively. The proposed controller can still achieve good control effects and has strong robustness under the condition of changing the load mass, trolley target displacement, system initial swing angles and adding external disturbance.

Neural Fuzzy Control of Ball and Beam System

2017 ◽  
Vol 6 (2) ◽  
pp. 64-78
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Fuzzy Logic ◽  
Equations Of Motion ◽  
Membership Functions ◽  
Fuzzy Controllers ◽  
Simulink Model ◽  
Beam System ◽  
Beam Orientation ◽  
Simulation Results ◽  
Neural Fuzzy ◽  
Ball And Beam System

This paper presents an offline control of ball and beam system using fuzzy logic. The objective is to control ball position and beam orientation using fuzzy controllers. A Matlab/Simulink model of the proposed system has been designed using Newton's equations of motion. The fuzzy controllers were built using seven gbell membership functions. The performance of proposed controllers was compared in terms of settling time, steady state error and overshoot. The simulation results are shown with the help of graphs and tables which illustrates the effectiveness and robustness of proposed technique.

Gain Scheduling Feedback Control of Tower Cranes with Friction Compensation

2004 ◽  
Vol 10 (2) ◽  
pp. 269-289 ◽  
Author(s):  
Hanafy M Omar ◽  
Ali H Nayfeh
Keyword(s):  
Least Squares ◽  
Least Squares Method ◽  
Gain Scheduling ◽  
Gantry Crane ◽  
Friction Coefficients ◽  
Identification Technique ◽  
Rotational Motions ◽  
Point To Point ◽  
Gantry Cranes ◽  
Load Weight

We have designed a controller based on gain-scheduling feedback to move a load from point to point within one oscillation cycle and without inducing large swings. The settling time of the system is taken to be equal to the period of oscillation of the load. This criterion enables us to calculate the controller feedback gains for varying load weight and cable length. First, we designed the controller for gantry cranes and then extended it to tower cranes by considering the coupling between the translational and rotational motions. Numerical simulations show that the controller is effective for reducing load oscillations and transferring the load in a reasonable time compared with that of optimal control. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction, then applied an opposite control action to cancel it. To estimate the friction force, we assumed a mathematical model, then we estimated the model coefficients using an off-line identification technique, the least-squares method. First, the process of identification was applied to a theoretical model of a dc motor with known friction coefficients. From this example, some guidelines and rules were deduced for the choice of the least-squares parameters. Then, the friction coefficients of the gantry crane model were estimated and validated.

MODELING THE SYNTHESIS OF TAKAGI — SUGENO — KANG FUZZY CONTROLLERS IN SOME CONTROL SYSTEMS

2021 ◽  
Vol 7 (2) ◽  
pp. 147-169
Author(s):  
Irina V. Kulikova
Keyword(s):  
Genetic Algorithms ◽  
Control System ◽  
Fuzzy Controller ◽  
Industrial Society ◽  
Control Action ◽  
Effective Control ◽  
Control Parameters ◽  
Membership Functions ◽  
Fuzzy Controllers ◽  
Takagi Sugeno

Modern challenges in a post-industrial society require further development of management systems for complex technical and technological phenomena and processes. Effective control of an object is possible if a controller, or a fuzzy controller, correctly generates the required control action. Recently, fuzzy controllers have been very popular. Fuzzy logical statements in this case help considering various nonlinear relationships. The synthesis of the fuzzy controller parameters allows for more efficient operation of the control system. A possible option for obtaining the best set of parameters for a fuzzy controller is the use of genetic algorithms for its synthesis. The use of genetic algorithms for the fuzzy controllers synthesis can lead to the fact that the elements of its parameters array will change in such a way that an incorrect value of one or more elements will occur. This situation leads to impossibility of composing membership functions for the terms of the variables of the fuzzy controller. Incorrect value formation is excluded by constructing a limited functional dependency. This paper proposes a mathematical model of the parameters of the term-set of variables of a fuzzy controller of the Takagi — Sugeno — Kang type of the zero and first orders. The authors disclose the content of the conditions and conclusions of the rule base for the fuzzy controller of the above type. As a result of the simulation, some operations of the genetic algorithm are implemented using a random number generator. Graphical models of the membership functions of the input variables of the fuzzy controller of the type under consideration clearly illustrate the occurrence of all parameters in their range of possible values. A description of the control system operation with two control parameters and one control action at the specified values of the control parameters is presented.

Position and Tilt Control of Two-Wheeled Robot (TWR)

2017 ◽  
Vol 6 (4) ◽  
pp. 17-33 ◽  
Author(s):  
Ashwani Kharola ◽  
Pravin P. Patil
Keyword(s):  
Fuzzy Inference ◽  
Second Law ◽  
Membership Functions ◽  
Inference System ◽  
Control Approach ◽  
Simulink Model ◽  
Neuro Fuzzy ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Training Error

This paper presents a fuzzy based adaptive control approach for stabilization of Two wheeled robot (TWR) system. The TWR consists of a robot chassis mounted on two movable wheels. The objective is to stabilize the proposed system within desired time, minimum overshoot and at desired location. The data samples collected from simulation results of fuzzy controllers were used for training, tuning and optimisation of an adaptive neuro fuzzy inference system(ANFIS) controller. A Matlab Simulink model of the system has been built using Newton's second law of motion. The effect of shape and number of membership functions on training error of ANFIS has also been analysed. The designing of fuzzy rules for both fuzzy and ANFIS controller were carried out using gbell shape memberships. Simulations were performed which compared and validated the performance of both the controllers.

Input-Shaped Control of Gantry Cranes: Simulation and Curriculum Development

2001 ◽  
Author(s):  
Craig Forest ◽  
David Frakes ◽  
William Singhose
Keyword(s):  
Dynamic Response ◽  
System Dynamics ◽  
Engineering Education ◽  
Work Environment ◽  
Computer Simulations ◽  
Gantry Crane ◽  
Input Shaping ◽  
Educational Tool ◽  
Institute Of Technology ◽  
Gantry Cranes

Abstract Knowledge of vibrations and controls has increased significantly by utilizing emerging computer capabilities. Engineering education should embrace this technology through computer simulations that predict and display the dynamic response of interesting systems. For example, manipulating payloads with an overhead gantry crane can be challenging due to the oscillations induced by the crane motion. The problem gets increasingly difficult when the work environment is cluttered with obstacles. This paper describes a simple input shaping solution to the vibration problem and shows how this problem and concept were integrated into the curriculum of an undergraduate system dynamics and controls course at the Georgia Institute of Technology. Furthermore, an educational tool is used to gather data on how crane operators attempt to navigate around obstacles. The results show that input shaping reduces the likelihood of collisions between the payload and obstacles, while at the same time allowing operators to be more aggressive in selecting navigation paths.

scholarly journals Optimization of Gantry Cranes’ Operation Path for Transshipment Based on Improved TSP

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Qi Zhang ◽  
Hongjin Dong ◽  
Mingjun Ling ◽  
Leyi Duan ◽  
Yuguang Wei
Keyword(s):  
Optimization Model ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Gantry Crane ◽  
Railway Network ◽  
Basic Model ◽  
Loading And Unloading ◽  
Container Freight ◽  
Gantry Cranes

In order to improve the transshipment efficiency of transit containers in the port or the port-type railway network container freight station (PRNCS) with the condition that each transit container matches a railway flat-car, this paper studied the optimization of operation path of the rail mounted gantry crane (RMG) in the loading and unloading track for containers transshipped directly from highway to railway. Based on the basic model of TSP, the paper constructed the optimization model for the operation path of RMG, and designed the Ant Colony Algorithm (ACA) to solve it, and then obtained the operation scheme of RMG having the highest efficiency. Finally, the validity and correctness of the model and algorithm were verified by a case.

scholarly journals Dynamic modelling and analysis of 3D overhead gantry crane system

2018 ◽  
Vol 7 (3) ◽  
pp. 1257
Author(s):  
Khalil Azha Mohd Annuar ◽  
Nik Azran Ab. Hadi ◽  
Mohamad Haniff Harun ◽  
Mohd Firdaus Mohd Ab. Halim ◽  
Siti Nur Suhaila Mirin ◽  
...  
Keyword(s):  
Linear Model ◽  
Nonlinear Dynamic ◽  
Equations Of Motion ◽  
Dynamic Modelling ◽  
Gantry Crane ◽  
Nonlinear Dynamic Model ◽  
Simulation Results ◽  
And Performance ◽  
Heavy Loads ◽  
Load Swing

The overhead gantry crane systems are extensively used in harbours and factories for transportation of heavy loads. The crane speeding up, required for motion, always induces undesirable load swing. This writings present dynamic modelling of a 3D overhead gantry crane sys-tem based on closed-form equations of motion. By using the Lagrange technique, a 3D overhead gantry crane system nonlinear dynamic model is deriving. Then perform a linearization process to obtain a linear model dynamic system. Finally, simulation results systems re-sponses of the derived nonlinear and linear model are presented showing the accuracy and performance of both model.  

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