Load swing suppression for rotary crane using neuro-controller optimized by genetic algorithm

被引：0
作者：
Nakazono K. [1 ]
Ohnishi K. [2 ]
Kinjo H. [1 ]
Yamamoto T. [3 ]
机构：
[1] Department of Mechanical Systems Engineering, Faculty of Engineering, University of the Ryukyus, Nishihara, Okinawa 903-0213, 1, Senbaru
[2] Department of System Design Engineering, Faculty of Science and Technology, Keio University, Kouhoku-ku, Yokohama 223-8522, 3-14-1, Hiyoshi
[3] Tokushima College of Technology, Itano, Tokushima 779-0108, 100, Inubushi
来源：
IEEJ Transactions on Electronics, Information and Systems | 2010年 / 130卷 / 05期
关键词：
Genetic algorithm; Load swing suppression; Neural network; Rotary crane;
D O I：
10.1541/ieejeiss.130.889
中图分类号：
学科分类号：
摘要：
In this paper, we propose a control method for a rotary crane system using neuro-controller (NC) optimized by real-coded genetic algorithm (GA). The rotary crane is known to be a nonholonomic system. We have been successful to suppress the load swing from an initial rotation angle using NC. However, the trained NC have low control performance with untrained angles. In this study, the evaluation function of GA is improved in order to control the load swing from multiple initial positions. The validity of the proposed NC is verified through computer simulation. Simulation results show that the proposed NC has good control performance and robustness with noise and fluctuation of the initial states. © 2010 The Institute of Electrical Engineers of Japan.
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页码：889 / 894+20
相关论文
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