Cho Sung-Kun, Lee Ho-Hoon
Embedded Software Division, Mentor Graphics Corporation, San Jose, CA 95131, USA.
ISA Trans. 2002 Apr;41(2):235-43. doi: 10.1016/s0019-0578(07)60083-4.
In this paper, a new fuzzy antiswing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control crane position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position and rope length for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by experiments with a three-dimensional prototype overhead crane.
本文针对三维桥式起重机提出了一种新的模糊防摆控制方案。所提出的控制由位置伺服控制和模糊逻辑控制组成。位置伺服控制用于控制起重机位置和绳索长度，模糊逻辑控制用于抑制负载摆动。所提出的控制不仅保证了对负载摆动的快速抑制，还保证了在起重机同时进行行走、横移和起升运动时对起重机位置和绳索长度的精确控制。此外，所提出的控制提供了实用的增益调整准则，便于应用。通过三维原型桥式起重机的实验验证了所提控制的有效性。
