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

• Autorzy: Smoczek J. , Szpytko J.
• Języki publikacji: EN

Abstrakty

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.

Twórcy

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: [phone],

Bibliografia

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