vii
TABLE OF CONTENTS
CHAPTER
1
2
TITLE
PAGE
DECLARATION
ii
DEDICATION
iii
ACKNOWLEDGEMENTS
iv
ABSTRACT
v
ABSTRAK
vi
TABLE OF CONTENTS
vii
LIST OF TABLES
x
LIST OF FIGURES
xi
LIST OF ABBREVIATIONS
xiii
LIST OF SYMBOLS
xiv
LIST OF APPENDICES
xv
INTRODUCTION
1
1.1
Introduction
1
1.2
Objectives
3
1.3
Scope of Project
3
1.4
Methodology
4
1.5
Thesis Outline
6
MODELLING OF THE GANTRY CRANE SYSTEM 7
2.1
Introduction
7
2.2
Literature Review
9
2.3
Model Description
11
2.4
Derivation of the Equation of Motion
12
viii
3
4
FUZZY LOGIC CONTROLLER
18
3.1
Introduction of Fuzzy Logic Control
18
3.1.1
19
Fundamentals of Fuzzy Logic Control
3.2
Fuzzy Logic Control System
3.3
Fuzzy Logic Controller Design
21
for Gantry Crane
22
3.3.1
Control Structure
22
3.3.2
Fuzzification and Inference
29
3.3.3
Defuzzification
30
SIMULATION RESULTS AND ANALYSIS
32
4.1
Introduction
32
4.2
Simulation
32
4.2.1 Dynamic Model of Gantry Crane
in SIMULINK
38
Results and Analysis
41
EXPERIMENTAL SETUP
47
5.1
Introduction
47
5.2
Hardware Implementation
47
5.3
Software Implementation
50
5.3.1 Simatic Step7 Software
50
5.3.2 FuzzyControl++ V5.0 Software
54
4.3
5
5.3.2.1 Fuzzy System Design
5.4
Experimental Results and Analysis
54
54
ix
6
CONCLUSION
66
6.1
Future Works
66
6.2
Conclusion
67
REFERENCES
68
Appendix A
71
Appendix B
80
x
LIST OF TABLES
TABLE NO.
TITLE
PAGE
2.1
Summary of Literature Review
9
4.1
Numerical Values of AC Servo Motor Model
38
4.2
Position Control Performance
42
4.3
Swing Angle Control Performance
44
5.1
Lab-scale of Gantry Crane Parameter Values
48
5.2
Comparison of Simulation and Experimental Results
65
xi
LIST OF FIGURES
FIGURE NO.
TITLE
PAGE
1.1
Flow Chart of Project Methodology
5
2.1
Model of Gantry Crane System
11
3.1
General Fuzzy Control System
19
3.2
The Fuzzy Control Rule Base
20
3.3
Block Control of Fuzzy Control System
21
3.4
Block Diagram of Gantry Crane System
22
3.5
Principle of Fuzzy Logic Control
24
3.6
Antecedents of Gantry Crane System
24
3.7
Fuzzy Controller Structure
24
3.8
Membership functions of position control
26
3.9
Membership functions of swing angle control
27
4.1
FIS Editor for Position Control
33
4.2
Membership Function of Input Error for Position Control
33
4.3
Membership Function of Input Error Rate
for Position Control
34
4.4
Membership Function of Output Voltage for Position Control
34
4.5
FIS Editor for Swing Angle Control
35
4.6
Membership Function of Input Error for Swing Angle Control
35
4.7
Membership Function of Input Error Rate
for Swing Angle Control
4.8
36
Membership Function of Output Voltage
for Swing Angle Control
36
4.9
Rules for Position Control
37
4.10
Rules for Swing Angle Control
37
xii
4.11
Dynamic System of Overall View of Gantry Crane Model
4.12
Fuzzy Logic Controller for Position and
39
Swing Angle Applied on Gantry Crane Model
39
4.13
Dynamic System of Gantry Crane and AC Servo Motor
40
4.14
Comparison of Position Control Output Response
for Fuzzy and PID Controller
4.15
41
Comparison of Swing Angle Control Output Response
for Fuzzy and PID Controller
43
4.16
Fuzzy Logic Control Surface Behavior of Position Control
44
4.17
Fuzzy Logic Control Surface Behavior of Swing Angle Control 45
4.18
VRML Animation of Gantry Crane System
via 3-D Visualization
46
5.1
Lab-scale Gantry Crane System
48
5.2
Digital and Analogue Inputs Outputs Connection
49
5.3
Integration Software and Hardware System
for Lab-scale Gantry Crane
50
5.4
Programming Data Blocks in Step 7 for PLC S7-300
52
5.5
Function Blocks Used in Simatic Step 7
52
5.6
Programming Configuration in Simatic Step 7
53
5.7
STL Structure Programming in Simatic Step 7
53
5.8
Fuzzy Logic Controller Design for Position Control
via FuzzyControl++ V5.0 Software Toolbox
5.9
57
Fuzzy Logic Controller Design for Swing Angle Control
via FuzzyControl++ V5.0 Software Toolbox
59
5.10
Singleton Functions
60
5.11
Control Behaviors Performance of Fuzzy Control System for
Position Control in FuzzyControl++ V5.0 Software
5.12
Control Behaviors Performance of Fuzzy Control System
for Swing Angle Control in FuzzyControl++ V5.0 Software
5.13
62
63
Output Responses of Velocity and Error for Position and
Swing Angle Control
64
xiii
LIST OF ABBREVIATIONS
PLC
-
Programmable Logic Controller
FLC
-
Fuzzy Logic Controller
FB
-
Function Block
PID
-
Proportional-Integrator-Derivative
PD
-
Proportional-Derivative
AC
-
Alternate Current
VRML -
Virtual Reality Modeling Language
xiv
LIST OF SYMBOLS
K
n
-
Exponention friction factor
-
Motor damping coefficient
-
Viscose friction coefficient
-
Coulomb friction coefficient
-
Maximal static friction
-
Load inertia
-
Motor inertia
-
Maximal amplifier current
-
Motor gain
-
Gear stiffness factor
-
Inductance of magnetizing circuit
-
Gear transmission
-
Resistance of magnetizing circuit
-
Motor starting torque backlash
xv
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
Configuration of FuzzyControl++ and Simatic Step7
71
B
Data Sheet of 9400 AC Servo High Line Lenze
80