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1 International Journal of Applied Mechanics and Engineering

1 2010

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Control of a rotary boom crane system using a PID-Fuzzy logic controller

Mahmoodi M., Sadati S. H., Ghanbari A., Ebrahim M.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 1

121-138

The main objective of this work is to design robust, fast, and practical controllers for boom cranes. The crane - load system is highly nonlinear and time varying, hence solutions considering model-base approaches may lead to a complicated controller structure. Such a controller may require accurate estimation of the crane system parameters. Two controller schemes are applied in the crane used in the present research, including one for the tracking of a desired operator pre-defined path, and the other for the damping of the unwanted in- and out-of-plane oscillations of the load. In this paper, we present a PID controller for the tracking and a fuzzy controller for the damping purposes, hence an overall controller of the PID-fuzzy type for the operation of the overhead crane. In this PID-fuzzy controller, the PID controller gains are determined by the Routh-Hurwitz method and the fuzzy controller is designed based on the knowledge of an expert crane operator, and does not require any parameter estimation. It mimics the operator behavior by using the same crane-load system states that are realized by the operator. These states are the trolley position error and the load sway angle. The controller is implemented on a boom crane. Computer simulations are used to verify the performance of the controller.