Abstract
The problem of control of slewing motion of a crane jib taking into account nonlinearity in a drive system is considered in the paper. The aim of the control is the transfer of a payload from a chosen point to another arbitrarily chosen one in such a way that at the end of the transfer action the tangential component of the payload oscillations is minimal. A fuzzy controller (FLC) was used in the control system of a slewing motion. A complete numerical model of a crane was developed and implemented in a MATLAB environment. Numerical simulations were performed by means of the program. The results of the performed numerical analysis are presented in this paper.
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