予見Fuzzy制御方式によるコンテナ・クレーン自動運転

抄録

A fuzzy set allows objects to have grades of membership from 0 to 1, and it is useful to define the subjective ambiguity of people. A fuzzy logic control is aimed at using this to incorporate human intellectual actions in control programs. A predictive fuzzy control which predicts the result and selects the most adequate control rules based on a skillful human operator's experience, had been proposed and applied to automatic train operation systems of a subway system.
In this paper, the predictive fuzzy control scheme is applied to a container crane operation by witch containers are carried between a container ship and a trailer. The crane is still operated by skillful human operators. So an automatic crane operation system is strongly required.
A conventional method had been proposed with a linearlized control algorithm and a target velocity pattern of a trolly on the crane. However, it is difficult to control the crane for a practical use.
The newly developed fuzzy controller evaluates performance indices such as; safety, stop gap, residual sway and carrying time. And the control rules are based on a skillful operator's knowledge. The simulation results show the crane is controlled with the same way as the skillful operator does; it saves 30% of cargos handling time compared with the conventional control scheme. And it is confirmed that the fuzzy controller is applied effectively to an actual container crane operation.