Neural-Fuzzy based 3D Anti-Sway Modelling and Control Design for Overhead Cranes

摘要

A non-linear 3D-model for an overhead crane system which takes into account a combination of a trolley and a pendulum is derived. The overall mathematical model hence obtained is simulated using MATLAB-SIMULINK. Open-loop simulations suggest the validity of this model by reflecting similar trends in industries which are concerned with material handling equipment. A handcrafted fuzzy controller, which includes two rule-bases, one for position control, the other one for sway-angle control, was first designed and successfully implemented using the above simulated model. The study was later extended to include the design of an Adaptive Neuro-Fuzzy Inference System (ANFIS) approach which proved to be effective in controlling the load oscillations and accurate in positioning the load itself along two coordinates.