Earticle

초록

영어

The 3 Degree-of-Freedom (DOF) crane represents one of the most widely deployed real-world platforms in the world today. It uses levers and pulleys for gripping, lifting and moving loads horizontally, as well as lowering and releasing the gripper to the original position. Hence the system produces swing angle which need to be controlled so that the payload could be transferred efficiently. The existing 3 DOF systems used conventional Linear Quadratic Regulator (LQR) controller to control the position and swing angle. This project report proposed the usage of Fuzzy Logic Controller (FLC) in place of LQR controller. FLC has a simpler and practical design approached. It avoids laborious mathematical formulation and computation thus reducing operating time. The FLC performance for position control and anti-swing control are compared with LQR controller using MATLAB simulation. The simulation results showed, under laboratory limitation, that FLC performed better compared to the conventional LQR controller.

목차

Abstract
 1. Introduction
 2. Related Work
 3. Linear Quadratic Regulator (LQR) System Modeling
 4. Fuzzy Logic Control System Modeling
  4.1 Membership Functions
  4.2 Fuzzy Rule Base
  4.3 Fuzzy Inference and Defuzzification
 5. Modeling the Gantry System
 6. Performance Analysis
  6.1 System Performance without Controller
  6.2 System Performance with LQR Controller
  6.3 System Performance with Fuzzy Logic Controller
  6.4 System Performance of LQR and FLC
 7. Conclusions
 References

키워드

저자

• J. Abdullah [ Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia ]
• R. Ruslee [ Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia ]
• J. Jalani [ Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605