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Journal of KONES

Tytuł artykułu

Pole placement approach to discrete and neuro-fuzzy crane control system prototyping

Autorzy Smoczek, J.  Szpytko, J. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN Today are observed rising requirements regarding increase productivity, reduced labour and maintenance cost, as well as optimizing the effectiveness of the material handling. The overhead travelling cranes play important role in selected manufacture applications. The paper presents methods of crane dynamic modelling and anti-sway discrete crane control system determining with using pole placement method (PPM). The TSK neuro-fuzzy crane controller was shown in the paper, as well as method of adaptation its control parameters to various values of rope length and masses of the load variables. The results of experiments carried out on real object were presented as well. Presented in the paper methods of crane dynamic modelling and control algorithm determining allow to prototype the effective anti-sway crane control systems. The method of determining conventional anti-sway crane control system based on discrete controllers type of PD elaborated with using pole placement method (PPM) was described in the paper. The TSK neuro-fuzzy crane controller was shown in the paper as well as method of adaptation its control parameters to various values ofrope length l and masses of the load m variables. The results of experiments carried out with using adaptive neuro-fuzzy TSK controller shown robustness on changeability of these variables and effectiveness of proposed control system.
Słowa kluczowe
EN pole placement method   overhead travelling crane   neuro-fuzzy  
Wydawca Łukasiewicz Research Network - Institute of Aviation
European Science Society of Powertrain and Transport KONES Poland
Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
Czasopismo Journal of KONES
Rocznik 2009
Tom Vol. 16, No. 4
Strony 435--445
Opis fizyczny Bibliogr. 10 poz., rys.
autor Smoczek, J.
autor Szpytko, J.
  • AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Ave. 30, 30-059 Kraków, Poland tel: +48 126173104,
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Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-article-BUJ5-0033-0087