Three-Dimensional Crane Modelling and Control Using Euler-Lagrange State-Space Approach and Anti-Swing Fuzzy Logic

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...

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Bibliographic Details
Main Authors: Aksjonov Andrei, Vodovozov Valery, Petlenkov Eduard
Format: Article
Language:English
Published: Sciendo 2015-12-01
Series:Electrical, Control and Communication Engineering
Subjects:
control systems
lagrangian functions
multidimensional systems
fuzzy control
variable speed drives
Online Access:https://doi.org/10.1515/ecce-2015-0006
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spelling doaj-2b340d249f4b4b55b5b47f725ca106342021-09-05T20:44:46ZengSciendoElectrical, Control and Communication Engineering 2255-91592015-12-019151310.1515/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
collection DOAJ
language English
format Article
sources DOAJ
author Aksjonov Andrei
Vodovozov Valery
Petlenkov Eduard
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
author_facet Aksjonov Andrei
Vodovozov Valery
Petlenkov Eduard
author_sort Aksjonov Andrei
title 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_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_sort three-dimensional crane modelling and control using euler-lagrange state-space approach and anti-swing fuzzy logic
publisher Sciendo
series Electrical, Control and Communication Engineering
issn 2255-9159
publishDate 2015-12-01
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.
topic control systems
lagrangian functions
multidimensional systems
fuzzy control
variable speed drives
url https://doi.org/10.1515/ecce-2015-0006
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AT vodovozovvalery threedimensionalcranemodellingandcontrolusingeulerlagrangestatespaceapproachandantiswingfuzzylogic
AT petlenkoveduard threedimensionalcranemodellingandcontrolusingeulerlagrangestatespaceapproachandantiswingfuzzylogic
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