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Register a new userDesigning Hybrid Fuzzy PID Controller For Automated Mobile Cranes To Reduce Payload Swaying
تصميم نظام تحكم PID الضبابي الهجين للتحكم بحركة الرافعات المتحركة المؤتمتة للحد من تأرجح الحمل
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عبد الرزاق دبور( باحث )
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يتضمن هذا البحث دراسة الرافعات المتحركة المؤتمتة للحد من حالات انقلابها و التي غالبا ما تحدث بسبب تأرجح الحمل مما يتطلب وجود نظام تحكم بموضع الرافعة لوصولها إلى الموضع المحدد و إلى نظام تحكم آخر للتقليل من تأرجح الحمل قدر الإمكان أثناء حركة الرافعة. و على الرغم من تطور أنظمة التحكم التي تضبط عمل و أداء هذه الرافعات إلا أن تكرار حوادث الانقلاب في هذه الرافعات قادنا للبحث عن نظام تحكم ضبابي هجين و مقارنته بنظام تحكم PID بحيث يقوم على تحسين أداء عمل هذه الرافعات من خلال الحد من تأرجح الحمل و التحكم بالموضع الدقيق للرافعة. تم نمذجة المتحكم التناسبي التكاملي التفاضلي (PID) و المتحكم التناسبي التكاملي التفاضلي الضبابي (Hybrid Fuzzy PID Controller) باستخدام برنامج MATLAB و مقارنة النتائج بهدف الحصول على أفضل نظام تحكم للرافعة.
This search includes studying of automated mobile cranes to reduce incidence of inversing which often happens due to payload swaying that requires controlling system at the crane's site to reach Target position and another controlling system to reduce payload swaying as possible while the crane is in motion. Despite the development of controlling systems that adjust the operation and functions of these cranes, the repetition of accidental tips in these cranes lead us to look for hybrid fuzzy controlling system comparing it with PID controlling system. So, it will improve the performance of these cranes through the reduction of payload swaying and precise control of crane’s position. The PID controller and Hybrid Fuzzy PID controller were simulated using Matlab Software and the results were compared to reach the best controlling system for the crane.
References used
(Omar, H.M, Control of Gantry and Tower Cranes.Ph.D. Thesis, M.S. Virginia Tech, 2003, Pages(63 – 67
(Wahyudi and Jalani, J, Design and implementation of classical PID controller for an automatic gantry crane system, Proceedings of The International Conference on Recent Advances in Mechanical & Materials Engineering, Kuala Lumpur, 2005, Pages(10 – 13
(Lee,H.H., Modeling and control of a Three-Dimensional Overhead Crane, Journal of Dynamic Systems, Measurement and Control, 1998, Pages(20 – 25
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