Fuzzy motion control of an auto-warehousing crane system

Chunshien Li, Chun Yi Lee

研究成果: 雜誌貢獻期刊論文同行評審

9 引文 斯高帕斯(Scopus)


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 × 104 kg and 1.5 × 104 kg, respectively. For various loading conditions and varying distances, the FLC still controls the crane system very well with positioning accuracy less than 2 × 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.

頁(從 - 到)983-994
期刊IEEE Transactions on Industrial Electronics
出版狀態已出版 - 10月 2001


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