Naslov
Control of a rotary crane using fuzzy logic controller

Autori
Blažičević, Nenad ; Novaković, Branko ; Majetić, Dubravko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
ISMCR'98 Eight international symposium on Measurement and control in robotics / Volf, Jaromir ; Papežova, Stanislava - Prag : Technical University in Prague, 1998, 147-152

Skup
Eight international symposium on Measurement and control in robotics

Mjesto i datum
Prag, Češka Republika, 08.06.1998. - 12.06.1998

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
rotary crane; position and speed control; fuzzy logic controller

Sažetak
A fuzzy logic control synthesis of a rotary crane is proposed in this paper. The crane makes simultaneously three kinds of motion. Fuzzy logic controllers of position and speed of each degree of freedom of motion of a rotary crane are constructed. For each degree of freedom of motion there are two input variables in the fuzzy logic controller (position error and speed error) and one output variable (control variable). The domain space for each input and output variable is defined. Further, on each space seven fuzzy sets are defined by corespondent membership functions. For each fuzzy logic controller a fuzzy-associative memory FAM bank is used. In the inferention process the Mamdani's min-max operator is used and the defuzzyfication task is accomplished by employing the Centre of gravity Method than generates an exact numerical output-control variable. The computer simulation shoved that a rotary crane can be very successfuly controlled by constructed fuzzy logic controller.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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