Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic
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 wi...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Riga Technical University Press
2015-12-01
|
| Series: | Electrical, Control and Communication Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/ecce-2015-0006 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846093691727380480 |
|---|---|
| author | Aksjonov Andrei Vodovozov Valery Petlenkov Eduard |
| author_facet | Aksjonov Andrei Vodovozov Valery Petlenkov Eduard |
| author_sort | Aksjonov Andrei |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-2b340d249f4b4b55b5b47f725ca10634 |
| institution | Kabale University |
| issn | 2255-9159 |
| language | English |
| publishDate | 2015-12-01 |
| publisher | Riga Technical University Press |
| record_format | Article |
| series | Electrical, Control and Communication Engineering |
| spelling | doaj-art-2b340d249f4b4b55b5b47f725ca106342025-01-02T16:35:58ZengRiga Technical University PressElectrical, Control and Communication Engineering2255-91592015-12-019151310.1515/ecce-2015-0006ecce-2015-0006Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy LogicAksjonov Andrei0Vodovozov Valery1Petlenkov Eduard2Doctoral student, Tallinn University of TechnologyProfessor, Tallinn University of TechnologyAssociate professor, Tallinn University of TechnologyThe 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.https://doi.org/10.1515/ecce-2015-0006control systemslagrangian functionsmultidimensional systemsfuzzy controlvariable speed drives |
| spellingShingle | Aksjonov Andrei Vodovozov Valery Petlenkov Eduard Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic Electrical, Control and Communication Engineering control systems lagrangian functions multidimensional systems fuzzy control variable speed drives |
| title | Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic |
| title_full | Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic |
| title_fullStr | Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic |
| title_full_unstemmed | Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic |
| title_short | Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic |
| title_sort | three dimensional crane modelling and control using euler lagrange state space approach and anti swing fuzzy logic |
| topic | control systems lagrangian functions multidimensional systems fuzzy control variable speed drives |
| url | https://doi.org/10.1515/ecce-2015-0006 |
| work_keys_str_mv | AT aksjonovandrei threedimensionalcranemodellingandcontrolusingeulerlagrangestatespaceapproachandantiswingfuzzylogic AT vodovozovvalery threedimensionalcranemodellingandcontrolusingeulerlagrangestatespaceapproachandantiswingfuzzylogic AT petlenkoveduard threedimensionalcranemodellingandcontrolusingeulerlagrangestatespaceapproachandantiswingfuzzylogic |