Investigation Of Trajectory Tracking Control Of Two-degree-of-freedom Gantry Crane Robot Based On Fuzzy PID Control

As a modern handling machine, gantry crane plays an increasingly importantrole during the practical production. With the development of the technology ofmechatronics, crane automation (that is crane robot) has been an important directionof crane development, and one of the main points of crane automation is toimplement the accurate trajectory tracking control of the payload. There are severalcontrol schemes recommended and controllers designed for the trajectory trackingcontrol of the crane robot system, and they are simulated and their control effects areanalyzed in this paper.Firstly, nonlinear differential equations of dynamics model are established byusing the Lagrange equation on a basis of the two-degree-of-freedom gantry cranerobot system, and then the nonlinear behaviors for the system are analyzed.Secondly, based on the nonlinear differential equations of dynamics model anddifferent control schemes, conventional PID controller, fuzzy controller and fuzzyPID controller are designed, and they are simulated in MATLAB/Simulink. Byanalyzing the simulation results, fuzzy controller is better than conventional PIDcontroller in the system trajectory tracking control, namely, the control of the trolleyposition, the wire length and load-swing angle, while fuzzy PID controller is betterthan both of them, it not only improve response speed times and good robustness butalso improve control accuracy. That is to say, to control the trolley position, the wirelength and swing angle with short time, high precision and stable dynamic and staticstates.Finally, variable universe theory is introduced into fuzzy control, so variableuniverse fuzzy control has been formed. Variable universe fuzzy PID controller isdesigned with the combination with variable universe fuzzy control and fuzzy PIDcontroller and it is simulated in MATLAB/Simulink. By analyzing the simulationresults, variable universe fuzzy PID controller is better than fuzzy PID controller withmore flexibility, elimination of system error, small overshoot, good robustness, stronganti-disturbance ability.Therefore, we can use the software and hardware system to achieve the result of the control by the hardware-in-the-loop simulation, with the analysis of thesimulation results which will provide a guidance for the control process of gantrycrane robot in this paper.