Fuzzy motion control of an auto-warehousing crane system

被引:30
作者
Li, CS [1 ]
Lee, CY [1 ]
机构
[1] Chang Gung Univ, Dept Elect Engn, Tao Yuan 333, Taiwan
关键词
auto-warehousing crane system; distance-speed control; fuzzy logic controller; motion control; positioning accuracy;
D O I
10.1109/41.954563
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Fuzzy motion control of an auto-warehousing crane system is presented in this paper. Using the concept of linguistic variable, a fuzzy logic controller (FLC) can convert the knowledge and experience of an expert into an automatic control strategy. The designed FLC with a rule base and three sets of parameters is used to control the crane system in x, y, and z directions. The unloaded weight and the fully loaded weight of the crane system in discussion are 1.35 x 10(4) kg and 1.5 x 10(4) kg, respectively. For various loading conditions and varying distances, the FLC still controls the crane system very well with positioning accuracy less than 2 x 10(-3) m for all directions. The distance-speed reference curve for control of the crane system is designed to meet the engineering specifications of motion such as acceleration, deceleration, maximum speed, and creep speed in each direction, and is generated automatically according to varying distance. The method for designing the distance-speed reference curve can make the crane move at relatively high speed to approach the target position. Simulations of the motion control in the three directions are demonstrated.
引用
收藏
页码:983 / 994
页数:12
相关论文
共 12 条
[1]  
Bojadziev G., 1995, Fuzzy sets, fuzzy logic, applications, Advances in Fuzzy Systems-Applications and Theory
[2]   Speed tracking servo control system incorporating traveling-wave-type ultrasonic motor and feasible evaluations [J].
Izuno, Y ;
Izumi, T ;
Yasutsune, H ;
Hiraki, E ;
Nakaoka, M .
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 1998, 34 (01) :126-132
[3]  
Jang J.-S.R., 1997, NEUROFUZZY SOFT COMP
[4]  
Klir G, 1995, Fuzzy Sets and Fuzzy Logic: Theory and Applications, V4
[5]   FUZZY-LOGIC IN CONTROL-SYSTEMS - FUZZY-LOGIC CONTROLLER .1. [J].
LEE, CC .
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1990, 20 (02) :404-418
[6]  
LEE CC, 1990, IEEE T SYST MAN CYB, V20, P419, DOI 10.1109/21.52552
[7]   Deadzone compensation in motion control systems using adaptive fuzzy logic control [J].
Lewis, FL ;
Tim, WK ;
Wang, LZ ;
Li, ZX .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1999, 7 (06) :731-742
[8]   Fuzzy control of unknown multiple-input-multiple-output plants [J].
Li, CS ;
Priemer, R .
FUZZY SETS AND SYSTEMS, 1999, 104 (02) :245-267
[9]   Hierarchical fuzzy force control for industrial robots [J].
Lin, ST ;
Huang, AK .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1998, 45 (04) :646-653
[10]   FUZZY CONTROL OF MODEL CAR [J].
SUGENO, M ;
NISHIDA, M .
FUZZY SETS AND SYSTEMS, 1985, 16 (02) :103-113