The switching algorithm for the control of overhead crane

This paper presents the fuzzy logic based method to control the trolley cranes. The information, including the position of trolley, load swing and the differences between the present and previous signals, are applied to derive the proper power to drive the trolley. An easy but effective switching algorithm is investigated to improve the control of trolley and suppress the load swing in this paper. This also helps to enhance the control power of the crane to depart from the deadzone. Finally, several experiments through the scaled trolley crane demonstrate the effectiveness of the scheme.This work was supported by the National Science Council of the Republic of China under Grant NSC-91-2213-E-231-007.