Application of Fuzzy Logic Control to Automatic Crane Operation

Abstract

In the operation of an overhead-traveling crane used for the loading work at ironworks and various factories, the load is required to arrive to the target point accurately without swing. At this cooperation of the opposite control aims, it is necessary to use skilled operator's technique. Then, there are many papers on the automatic operation using optimal control theory or fuzzy control logic. But, their algorithms are not on the cooperative ones and they are still on experimental scales, not practical use, or computer simulations. We have developed a cooperative method which is satisfied with positioning and swing prevention control of an overhead-traveling crane by using fuzzy control logic. After studing by simulation, this algorithm has been implemented on a programable controller and used to a practical crane. For the purpose of showing its effectiveness, we have carried out the experiments and compared with conventional methods. Then we have confirmed the fact that it is possible to reduce the swing of the load and arrive accurately at a goal position within 2.3 times of natural period of wire rope. Here, we discuss about these results.