TY - JOUR
T1 - Fuzzy motion control of an auto-warehousing crane system
AU - Li, Chunshien
AU - Lee, Chun Yi
N1 - Funding Information:
Manuscript received September 6, 2000; revised April 1, 2001. Abstract published on the Internet July 31, 2001. This work was supported by the National Science Council, Taiwan, R.O.C., under Grant NSC89-2218-E-182-002. C. Li is with the Department of Electrical Engineering, Chang Gung University, Tao-Yuan 333, Taiwan, R.O.C. (e-mail: [email protected]). C.-Y. Lee was with the Department of Electrical Engineering, Chang Gung University, Tao-Yuan 333, Taiwan, R.O.C. He is now with Programmable Microelectronics (Taiwan) Corporation, Hsinchu, Taiwan, R.O.C. Publisher Item Identifier S 0278-0046(01)08782-2.
PY - 2001/10
Y1 - 2001/10
N2 - 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.
AB - 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.
KW - Auto-warehousing crane system
KW - Distance-speed control
KW - Fuzzy logic controller
KW - Motion control
KW - Positioning accuracy
UR - http://www.scopus.com/inward/record.url?scp=0035472023&partnerID=8YFLogxK
U2 - 10.1109/41.954563
DO - 10.1109/41.954563
M3 - 期刊論文
AN - SCOPUS:0035472023
SN - 0278-0046
VL - 48
SP - 983
EP - 994
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 5
ER -