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A novel anti-swing and position control method for overhead crane
Xuejuan Shao1,2,3, Jinggang Zhang1,2, Xueliang Zhang3
1College of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan, China.
Science Progress
|December 13, 2019
Summary
This study introduces a new control method for overhead cranes using Takagi-Sugeno fuzzy modeling and linear matrix inequality. The novel approach enhances anti-swing and position control, proving effective and robust in simulations.
Area of Science:
- Control Engineering
- Robotics
- Fuzzy Systems
Background:
- Overhead cranes require precise control to prevent dangerous swinging and ensure accurate load positioning.
- Traditional control methods often struggle with the inherent nonlinear dynamics of crane systems.
Purpose of the Study:
- To develop a novel anti-swing and position control scheme for overhead cranes.
- To simplify the crane's dynamic model and improve control performance.
Main Methods:
- A simplified nonlinear dynamic model was created using a virtual control variable.
- A Takagi-Sugeno fuzzy model was constructed employing sector nonlinearity.
- A controller was designed using linear matrix inequality (LMI) with a decay rate.
Main Results:
- The proposed control scheme effectively reduced swing and improved position accuracy.
- Simulations demonstrated the feasibility and effectiveness of the novel method.
- The new method showed improved robustness compared to traditional Takagi-Sugeno fuzzy control.
Conclusions:
- The novel Takagi-Sugeno fuzzy control method based on LMI offers a superior solution for overhead crane control.
- The simplified modeling approach enhances the practicality of fuzzy control for complex systems.
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