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Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

机译：带有实验验证的龙门起重机系统的模糊控制器

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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.
机译：龙门起重机的控制问题由于这些起重机在工业中的各种应用而引起了许多研究者的注意。在本文中，我们提出了两个模糊控制器来控制龙门起重机的小车的位置，同时抑制有效载荷的摆动角度。首先，我们提出了一种双PD模糊控制器，其中每个PD控制器的参数随着手推车向其期望位置的移动而变化，同时保持有效载荷的小摆角。该控制器使用两个模糊子系统。然后，我们提出了一种基于启发式的模糊控制器。该控制器的规则是在考虑到经验丰富的起重机操作员的知识后得出的。该控制器的独特之处在于它仅使用一个模糊系统来实现控制目标。通过广泛的MATLAB仿真以及在实验室龙门起重机设备上的实验结果，对所设计控制器的有效性进行了测试。仿真结果和实验结果表明所提出的模糊控制器工作良好。此外，仿真和实验结果证明了所提出的控制方案对输出干扰以及起重机某些参数不确定性的鲁棒性。

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  • 来源
    《Mathematical Problems in Engineering》 |2016年第4期|1965923.1-1965923.17|共17页
  • 作者

    Almutairi Naif B.; Zribi Mohamed;

  • 作者单位

    Kuwait Univ, Coll Engn & Petr, Dept Elect Engn, POB 5969, Safat 13060, Kuwait;

    Kuwait Univ, Coll Engn & Petr, Dept Elect Engn, POB 5969, Safat 13060, Kuwait;

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