Interval Analysis Approach to Prototype the Robust Control of the Laboratory Overhead Crane

27th International Conference on CADCAM, Robotics and Factories of the Future 2014

工业技术;机械制造

Smoczek, J.^1 ; Szpytko, J.^1 ; Hyla, P.^1

AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Mickiewicza Av. 30, PL 30-059 Krakow, Poland^1

关键词: Control measurements;    Fuzzy robust controls;    Fuzzy scheduling;    Interval arithmetic;    Linear controllers;    Overhead crane;    Payload variations;    System prototyping;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/65/1/012024/pdf
DOI  :  10.1088/1757-899X/65/1/012024

学科分类：工业工程学

来源: IOP

【 摘 要 】

The paper describes the software-hardware equipment and control-measurement solutions elaborated to prototype the laboratory scaled overhead crane control system. The novelty approach to crane dynamic system modelling and fuzzy robust control scheme design is presented. The iterative procedure for designing a fuzzy scheduling control scheme is developed based on the interval analysis of discrete-time closed-loop system characteristic polynomial coefficients in the presence of rope length and mass of a payload variation to select the minimum set of operating points corresponding to the midpoints of membership functions at which the linear controllers are determined through desired poles assignment. The experimental results obtained on the laboratory stand are presented.