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ANFIS & PI? D? controller design and comparison for overhead cranes
(2011) Arpaci H.; Özgüven O.F.
The study suggests a method of designing an "intelligent" digital control for maintaining the load masses and target displacement at predefined position on overhead crane system. The control works on the basis of modeling at position control and sway angle control. In this study, the ANFIS and PI? D? control system are applied to crane. Heuristic rules derived with the membership functions then the parameters of membership functions are tuned by adaptive neuro-fuzzy inference system (ANFIS). MATLAB, SIMULINK and Fuzzy Logic TOOLBOX are the programming environments used for realization of the model. The principle aim in designing the control is to assure the fastest and best transition possible from a controller for overhead crane. A non-linear model for an overhead crane system, which takes into account a combination of a trolley and a pendulum, is derived. The overall mathematical model obtained is simulated using MATLAB-SIMULINK. An adaptive neuro-fuzzy controller, which includes three rule bases, and PID, PI? D?, used for position control, is successfully designed and implemented on the below simulated model. At the same time, in this performance, more rapid and less swing results are obtained for longer transportation distance with ANFIS control system, compared with the results of other studies.