Title page for ETD etd-12092000-141829

Type of Document Master's Thesis
Author Al-Mousa, Amjed A.
Author's Email Address aalmousa@vt.edu
URN etd-12092000-141829
Title Control of Rotary Cranes Using Fuzzy Logic and Time-Delayed Position Feedback Control
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kachroo, Pushkin Committee Co-Chair
Nayfeh, Ali H. Committee Co-Chair
Pratt, Timothy J. Committee Member
  • Crane Control
  • Hybrid Control
  • Tower Crane
  • Gantry Crane
Date of Defense 2000-11-27
Availability unrestricted
Rotary Cranes (Tower Cranes) are common industrial structures that are used in

building construction, factories, and harbors. These cranes are usually operated manually.

With the size of these cranes becoming larger and the motion expected to be faster, the

process of controlling them became dicult without using automatic control methods. In

general, the movement of cranes has no prescribed path. Cranes have to be run under

dierent operating conditions, which makes closed-loop control preferable.

In this work, two types of controllers are studied: fuzzy logic and time-delayed position

feedback controllers. The fuzzy logic controller is introduced first with the idea of split-horizon;

that is, to use some fuzzy engines for tracking position and others for damping

load oscillations. Then the time-delayed position feedback method is applied. Finally, an

attempt to combine these two controllers into a hybrid controller is introduced. Computer

simulations are used to verify the performance of these controllers. An experimental setup

was built on which the time-delayed position feedback controller was tested. The results

showed good performance.

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