Type of Document Master's Thesis Author Al-Mousa, Amjed A. Author's Email Address email@example.com 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 Keywords
- Crane Control
- Hybrid Control
- Tower Crane
- Gantry Crane
Date of Defense 2000-11-27 Availability unrestricted AbstractRotary 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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