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Simulation of the Predictive Control Algorithm for Container Crane Operation using Matlab Fuzzy Logic Tool BoxThis research has investigated the use of fuzzy logic, via the Matlab Fuzzy Logic Tool Box, to design optimized controller systems. The engineering system for which the controller was designed and simulate was the container crane. The fuzzy logic algorithm that was investigated was the 'predictive control' algorithm. The plant dynamics of the container crane is representative of many important systems including robotic arm movements. The container crane that was investigated had a trolley motor and hoist motor. Total distance to be traveled by the trolley was 15 meters. The obstruction height was 5 meters. Crane height was 17.8 meters. Trolley mass was 7500 kilograms. Load mass was 6450 kilograms. Maximum trolley and rope velocities were 1.25 meters per sec. and 0.3 meters per sec., respectively. The fuzzy logic approach allowed the inclusion, in the controller model, of performance indices that are more effectively defined in linguistic terms. These include 'safety' and 'cargo swaying'. Two fuzzy inference systems were implemented using the Matlab simulation package, namely the Mamdani system (which relates fuzzy input variables to fuzzy output variables), and the Sugeno system (which relates fuzzy input variables to crisp output variable). It is found that the Sugeno FIS is better suited to including aspects of those plant dynamics whose mathematical relationships can be determined.
Document ID
19970026899
Acquisition Source
Johnson Space Center
Document Type
Other
Authors
Richardson, Albert O.
(California State Univ. Chico, CA United States)
Date Acquired
August 17, 2013
Publication Date
June 1, 1997
Publication Information
Publication: National Aeronautics and Space Administration (NASA)/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program: 1996
Volume: 2
Subject Category
Cybernetics
Accession Number
97N26042
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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