design of fuzzy pd-controlled overhead crane system with anti-swing compensation设计的模糊pd-controlled anti-swing桥式吊车系统补偿.pdfVIP

Engineering, 2011, 3, 755-762 doi:10.4236/eng.2011.37091 Published Online July 2011 (http://www.SciRP.org/journal/eng) Design of Fuzzy PD-Controlled Overhead Crane System with Anti-Swing Compensation Shebel Asad, Maazouz Salahat, Mohammed Abu Zalata, Mohammad Alia, Ayman Al Rawashdeh Division of Mechatronics, Faculty of Engineering Technology, Al Balqa Applied University, Amman , Jordan E-mail : shebel_asad@, .jo Received April 9, 2011; revised April 21, 2011; accepted May 5, 2011 Abstract This work aimed to find a proper control strategy to transfer loads using overhead cranes. The proposed con- trol strategy, which is Fuzzy PD-based, should take into account two main factors. First, the time needed to move the payload from the initial pick up point to the destination point that must be minimized. Second, the oscillation of the payload must be reduced to prevent hazards for people and equipment in the work place. The current work, presents a comparative analysis of fuzzy PD based control basing on classical PD ap- proach. A simplified model has been derived. The proposed control techniques have been designed and vali- dated with MatLab. Numerical comparative results have been obtained and discussed. Keywords: Induction Motor, Modeling, Stationary Reference Frame, Matlab/Simulink 1. Introduction of the carte (trolley position) with the presence of an- other fuzzy-based anti-swing compensator. The proposed One of the current trends in industry is that cranes be- model has been validated with