Fuzzy controller for the 3-D overhead crane system

A simple but effective way to control the 3-D overhead crane is proposed in this paper. Instead of the complex designing procedures, the basic PID control is utilized to drive the trolley in the fore part of the transportation; and the projection of swinging angle and the vector to the goal are applied to derive the proper fuzzy control of crane when the trolley is near the goal. A compensating algorithm for the control deadzone problem is also provided to enhance the performance. Several experiments illustrated the effectiveness of the proposed method through the scaled 3-D crane model