Control of Slewing Motion of a Crane Model Taking into Account Non Linearities in Drive System

摘要

The problem of control of slewing motion of a crane jib taking into account non-linearity 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.