Anti-sway position control of an automated transfer crane based on neural network predictive PID controller |
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Authors: | Jin-Ho Suh Jin-Woo Lee Young-Jin Lee Kwon-Soon Lee |
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Affiliation: | (1) Department of Electrical Engineering, Dong-A National University, 840, Hadan-dong, Saha-gu, 604-714 Busan, Korea;(2) Department of Electrical Instrument and Control, Korea Aviation Polytechnic College, 438 Egeum-dong, 664-180 Sachon City, Kyungnam, Korea;(3) Division of Electrical, Electronic, and Computer Engineering, Dong-A University, 840, Hadan-dong, Saha-gu, 604-714 Busan, Korea |
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Abstract: | In this paper, we develop an anti-sway control in proposed techniques for an ATC system The developed algorithm is to build
the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the
finial coordinate Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning
parameters of controller using NN with 2 DOF PID controller The simulation and experimental results show that the proposed
control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller
As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which
is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial
applications |
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Keywords: | Automated Transfer Crane (ATC) Neural Network Predictive (NNP) Control Predictive Control NN Auto Tuner Anti-Sway Control Collision Avoidance Path |
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