Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic

Andrei Aksjonov; Valery Vodovozov; Eduard Petlenkov

doi:10.1515/ecce-2015-0006

Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic

Authors

Andrei Aksjonov Doctoral student, Tallinn University of Technology
Valery Vodovozov Professor, Tallinn University of Technology
Eduard Petlenkov Associate professor, Tallinn University of Technology

DOI:

https://doi.org/10.1515/ecce-2015-0006

Keywords:

Control systems, Lagrangian functions, Multidimensional systems, Fuzzy control, Variable speed drives

Abstract

The mathematical model of the three-dimensional crane using the Euler-Lagrange approach is derived. A state-space representation of the derived model is proposed and explored in the Simulink® environment and on the laboratory stand. The obtained control design was simulated, analyzed and compared with existing encoder-based system provided by the three-dimensional (3D) Crane manufacturer Inteco®. As well, an anti-swing fuzzy logic control has been developed, simulated, and analyzed. Obtained control algorithm is compared with the existing anti-swing proportional-integral controller designed by the 3D crane manufacturer Inteco®. 5-degree of freedom (5DOF) control schemes are designed, examined and compared with the various load masses. The topicality of the problem is due to the wide usage of gantry cranes in industry. The solution is proposed for the future research in sensorless and intelligent control of complex motor driven application.

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