Fuzzy motion control of an auto-warehousing crane system
Chunshien Li
Chun-Yi Lee
Dept. of Electr. Eng., Chang Gung Univ., Tao Yuan ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct 2001
Volume: 48,
Issue: 5
On page(s): 983-994
ISSN: 0278-0046
References Cited: 12
CODEN: ITIED6
INSPEC Accession Number: 7070159
Digital Object Identifier: 10.1109/41.954563
Current Version Published: 2002-08-07
Abstract
Fuzzy motion control of an auto-warehousing crane system is
presented in this paper. Using the concept of linguistic variable, a
fuzzy logic controller (FLC) can convert the knowledge and experience of
an expert into an automatic control strategy. The designed FLC with a
rule base and three sets of parameters is used to control the crane
system in x, y, and z directions. The unloaded weight and the fully
loaded weight of the crane system in discussion are 1.35×104
kg and 1.5×104 kg, respectively. For various
loading conditions and varying distances, the FLC still controls the
crane system very well with positioning accuracy less than 2×10
-3 m for all directions. The distance-speed reference curve
for control of the crane system is designed to meet the engineering
specifications of motion such as acceleration, deceleration, maximum
speed, and creep speed in each direction, and is generated automatically
according to varying distance. The method for designing the
distance-speed reference curve can make the crane move at relatively
high speed to approach the target position. Simulations of the motion
control in the three directions are demonstrated
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