Fuzzy logic-based adaptive control system prototypying for laboratory scaled overhead crane

The prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. The software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers determined at the selected operating points using a pole placement method (PPM) and the fuzzy interpolation of controllers parameters within the range of scheduling variables: rope length and mass of a payload. The control algorithm, a linear dynamic model of a planar crane, as well as the fuzzy schedulers of controllers and model's parameters were implemented using structured text (ST) on the PAC system with RX3i controller. The softwarehardware tools allows to automate the crane's models identifications for the selected operating points, determine the controllers parameters, validate the closed-loop system through real-time simulating on the PAC system and finally pass to conducting the experiments on the laboratory device.