Fuzzy-LQR Based Anti-Swing Control of Gantry Crane

Abstract:

The paper proposed a controller combined fuzzy logic with linear quadratic regulator (LQR). This controller was able to adjust the swing angle precisely during the lifting of gantry crane. It resolved the problem that the LQR controller mostly depending on the accuracy of the mathematical model. First, the paper analyzed the design method of the LQR, then an improved method combing with fuzzy logic was put forward in detail and a further simulation experiment was carried on the MATLAB. The result shows that compared with LQR, the Fuzzy-LQR method can drive the crane to destination in a shorter time and reduced the swing angle by a third.

• Periodical: Advanced Materials Research (Volumes 1030-1032)
• Pages: 1596-1601
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1030-1032.1596
• Online since: September 2014
• Authors: Chun Xin Mu*, Ming Quan Shi, Zhen Feng Han, Qi Min Li
• Keywords: Anti-Swing, Fuzzy-LQR, Gantry Crane, Simulation

References

[1] Xu Jun, Wang Weigang: The Research Summary on Anti-swing Control of Crane. Marine Technology. 2013(2), pp.25-30.

[2] Auering J W, Troger H: Time Optimal Control of Overhead Cranes with Hoisting of the Load. Automatica, Vol. 23(1987), pp.437-447.

DOI: 10.1016/0005-1098(87)90073-2

[3] Corriga G., Giua A: An Implicit Gain-scheduling Controller for Cranes. IEEE Transaction on Control systems Technology, Vol. 6(1998), pp.15-20.

DOI: 10.1109/87.654873

[4] Z. Kang, S. Fujii, C. Zhou, and K. Ogata: Adaptive Control of a Planar Gantry Crane by the Switching of Controllers, Transactions of Society of Instrument and Control Engineers, Vol. 35(1999), pp.253-261.

DOI: 10.9746/sicetr1965.35.253

[5] Cao Lingzhi, Liu Lei: Adaptive Fuzzy Sliding Mode Method-Based Position and Anti-swing Control for Overhead Cranes. Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference, Vol. 1(2011), pp.335-338.

DOI: 10.1109/icmtma.2011.85

[6] Wang Xiaojun, Shao Huihe: Fuzzy Logic-based Anti-Swing and Position Control for Bridge Cranes, Vol. 17(2005), pp.936-939.

[7] Wang Yueyuan: Research on Fuzzy Logic Anti-Swing Control of overhead Crane. Dalian University of Technology, (2008).

[8] Hu Yanli: Research on Anti-Swing Control of Bridge Crane Based on Fuzzy PID Control. Henan Polytechnic University, (2010).

[9] He Kongde, Fang Zifan, Yang Weihua: Model of Control System for Preventing Swing of Gantry Crane. J of China Three Gorges Univ, Vol. 33(2011), pp.75-79.

[10] Ma Juanli: The Optimal Controller Design of LQR and the Application of Matlab. Journal of Shihezi University(Natural Science), Vol. 23(2005), pp.519-521.

[11] Wu shouzhang: Optimal Control Theory And Application(China Machine Press, China, 2011), pp.71-79.