Project Proposal for Control Theory – Master of Science in Information Technology Fall 2004, Control Laboratory, Aalborg University Esbjerg Fuzzy Control of a Gantry Crane System Background Cranes as one of the major equipments in industries, exists in most places - from domestic industries to naval yards to warehouses, as one example shown in Figure In these places the productivity of the activities depends on how efficiently the cranes are managed One of the challenging in the control of the cranes is to deal with swaying phenomenon introduced by the trolley motion This swaying not only reduces the efficiency of the cranes, but also can cause safety problem in the complicated working environment Figure A real-world crane system in the harbor Figure The AUE Crane system Problem Many control strategies based on the classic or modern control techniques have been proposed and tested in the laboratory level for the control of the crane system, such as adaptive control, optimal control, and nonlinear control etc However, from the practical point of view, real-time control requires some simplification of the experimental model, and human intervention id always necessary for this type of control Another issue relating to the case of conventional control is the robustness problem Some researcher concluded: “Optimal solutions are only attainable when dealing with a very idealized model of the overhead crane system” In general, a controller based on the experience of the human operator is desired for the practical purpose The aim of fuzzy control is normally to substitute a fuzzy rule-based system for a skilled human operator Therefore, within this project the fuzzy control of a crane system will be investigated In AUE some student group has built a physical laboratory crane system as shown in Figure This system will be used to test the developed methods Objective The objective of this project is to develop and test a fuzzy control method for the AUE crane system The swing of the payload should be minimized when the trolley reaches the termination and the traveling time will also be considered Contents The content can include: • Hardware improvements: for example, improving the current measuring methods/instruments, lengthening the traveling frame, improving the pivot mechanism between the cart and the payload cable, etc; • Fuzzy control strategy: construction of reference trajectory or reference velocity; development of fuzzy control rules; defuzzification Project Proposal for Control Theory – Master of Science in Information Technology Fall 2004, Control Laboratory, Aalborg University Esbjerg • • Modeling and Matlab/Simulink simulation Experimental tests Since this is a further project based on this system, better system performance are expected through this project Reference input Crane system+ motor sensors D/A Defuzzification Inference engine fuzzification A/D Fig A framework of a Fuzzy Control System References (can be available upon requirement) • • • DE-6 Gourp 672 (Spring 2004) report: Control of the Crane Project 2004 A Benhidjeb and G.L Gissinger, “Fuzzy control of an overhead crane performance comparison with classic control”, Control Engineering Practice, Vol.3, No.12, 1995, pp.1687-1696 J Yi, Naoyoshi Yubazaki, and Kaoru Hirota, “Anti-swing and positioning control of a overhead traveling crane”, Information Sciences, Vol.155, 2003, pp.19-42 Key words: Crane system, fuzzy control, swing control, experimental test Proposers: Zhenyu Yang, yang@cs.aue.auc.dk Youmin Zhang, ymzhang@cs.aue.auc.dk Henrik Legind Larsen, legind@cs.aue.auc.dk ...Project Proposal for Control Theory – Master of Science in Information Technology Fall 2004, Control... simulation Experimental tests Since this is a further project based on this system, better system performance are expected through this project Reference input Crane system+ motor sensors D/A... be available upon requirement) • • • DE-6 Gourp 672 (Spring 2004) report: Control of the Crane Project 2004 A Benhidjeb and G.L Gissinger, “Fuzzy control of an overhead crane performance comparison