An Adaptive DE Algorithm Based Fuzzy Logic Anti-swing Controller for Overhead Crane Systems
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An Adaptive DE Algorithm Based Fuzzy Logic Anti-swing Controller for Overhead Crane Systems Zhe Sun1 Fan Wu3
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Yawen Ling1 • Hongbo Qu1 • Feng Xiang2 • Zhixin Sun1
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Received: 3 December 2019 / Revised: 18 March 2020 / Accepted: 4 May 2020 Ó Taiwan Fuzzy Systems Association 2020
Abstract In this paper, aiming at the under-actuated problem of the overhead crane systems, a fuzzy logic antiswing controller is first designed according to operator experience. Moreover, for better configuring the parameters of the controller, an adaptive differential evolution with disturbance factor algorithm (ADE-D) is proposed by introducing the adaptive scaling factor, the dynamic crossover probability and disturbance factor. By implementing numeric experiment test, the results show that the adaptive differential evolution with disturbance factor algorithm outperforms the standard differential evolution algorithm and other improved differential evolution algorithms. Finally, the adaptive differential evolution with disturbance factor algorithm-based fuzzy logic anti-swing controller is simulated under different conditions and compared with other control methods; the results exhibit excellent robustness of control performance in positioning control and damping oscillation of payload. Keywords Overhead crane systems Fuzzy control Fusion function Differential evolution algorithm
& Zhixin Sun [email protected] Zhe Sun [email protected] 1
Post Industry Technology Research and Development Center of the State Posts Bureau (Internet of Things Technology), Post Big Data Technology and Application Engineering Research Center of Jiangsu Province, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
2
YuanTong Express, Shanghai 201705, China
3
Computer Science Department, Tuskegee University, Tuskegee, AL 36088, USA
1 Introduction The overhead cranes are extensively used in the factories, harbors, rubbish manipulations and some other situations for moving all kinds of massive goods. To transport the cargoes efficiently and safely, the trolley should move the cargoes to the destination in an appointed time, and the swing of the payload should also be suppressed as small as possible. According to Newtonian mechanics knowledge, the rope between the trolley and payload is flexible, so the acceleration of the crane would cause unexpected payload oscillation, which may lead to payload damage and collision accidents. With the development of control technology, the automatic controlling is gradually replacing traditional control by human. However, the highly nonlinear characteristics of the a systems pose challenges to the overhead crane anti-swing control. Hence, how to design an efficient control system for overhead crane systems becomes more and more significant. In the last few decades, plenty of the effective methods of anti-swing control for overhead crane systems were proposed. At the early research stage, the input shaping [1, 2] and optimal control [3] had been widely used for overhead cranes’ anti-sw
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