Fuzzy logic-based adaptive control system prototypying for laboratory scaled overhead crane

The prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. The software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers determined at the selected operating points using a pole placement method (PPM) and the fuzzy interpolation of controllers parameters within the range of scheduling variables: rope length and mass of a payload. The control algorithm, a linear dynamic model of a planar crane, as well as the fuzzy schedulers of controllers and model´s parameters were implemented using structured text (ST) on the PAC system with RX3i controller. The softwarehardware tools allows to automate the crane´s models identifications for the selected operating points, determine the controllers parameters, validate the closed-loop system through real-time simulating on the PAC system and finally pass to conducting the experiments on the laboratory device.