CHAPTER 1 INTRODUCTION

1.1 INTRODUCTION TO THE CRANE A crane also known as a bridge crane or overhead crane) is a type of machine used for lifting, generally equipped with a hoist. It is also called a wire rope drum where wire ropes or chains and sheaves, that can be used both to lift and lower materials and to move them horizontally. It uses one or more simple machines like a hoist to create mechanical advantage and thus move loads beyond the normal capability of a human. Cranes are commonly employed in the transport industry for the loading and unloading of freight, in the construction industry for the movement of materials and in the manufacturing industry for the assembling of heavy equipment. The first construction cranes were invented by the Ancient Greeks and were powered by men or beasts of burden, such as donkeys. These cranes were used for the construction of tall buildings. Larger cranes were later developed, employing the use of human tread wheels, permitting the lifting of heavier weights. In the High Middle Ages, harbor cranes were introduced to load and unload ships and assist with their construction some were built into stone towers for extra strength and stability. The earliest cranes were constructed from wood, but cast iron and steel took over with the coming of the Industrial Revolution. For many centuries, power was supplied by the physical exertion of men or animals, although hoists in watermills and windmills could be driven by the harnessed natural power. The first 'mechanical' power was provided by steam engines, the earliest steam crane being introduced in the 18th or 19th century, with many remaining in use well into the late 20th century. Modern cranes usually use internal combustion engines or electric motors and hydraulic systems to provide a much greater lifting capability than was previously possible, although manual cranes are still utilized where the provision of power would be uneconomic. 1

Cranes exist in an enormous variety of forms each tailored to a specific use. Sometimes sizes range from the smallest jib cranes, used inside workshops, to the tallest tower cranes, used for constructing high buildings. For a while, mini - cranes are also used for constructing high buildings, in order to facilitate constructions by reaching tight spaces. Finally, we can find larger floating cranes, generally used to build oil rigs and salvage sunken ships. Handling and storing materials involve diverse operations such as hoisting tons of steel with a crane; driving a truck loaded with concrete blocks; carrying bags or materials manually; and stacking palletized bricks or other materials such as drums, barrels, kegs, and lumber. The efficient handling and storing of materials are vital to industry. In addition to raw materials, these operations provide a continuous flow of parts and assemblies through the workplace and ensure that materials are available when needed. Unfortunately, the improper handling and storing of materials often result in costly injuries

Fig 1.1 Block diagram of 3D crane

1.2 OVERHEAD CRANE

Fig 1.2 Overhead Crane at the Skanska precast concrete factory in Hjrup.

An overhead crane is a type of crane where the hook-and-line mechanism runs along a horizontal beam that runs along two widely separated rails. Often it is in a long factory building and runs along rails along the building's two long walls. It is similar to a gantry crane. The fig 1.2 shows such type of overhead crane of Skanska precast concrete industry. An overhead crane typically consists of three important parts: 1. The hoist, providing up/down motion to lift items. 2. The trolley, providing left/right motion for the hoist and load. 3. The bridge, providing back/forward motion for trolley, hoist, and load. This is permanently installed in a factory, shop, or warehouse to move items not moveable by humans or forklifts. 1.2.1 Uses of Overhead Cranes The most common overhead crane use is in the steel industry. Every step of steel, until it leaves a factory as a finished product, the steel is handled by an overhead crane. Raw materials are poured into a furnace by crane, hot steel is stored for cooling by an 3

overhead crane, the finished coils are lifted and loaded onto trucks and trains by overhead crane, and the fabricator or stamper uses an overhead crane to handle the steel in his factory. The automobile industry uses overhead cranes for handling of raw materials. Smaller workstation cranes handle lighter loads in a work-area, such as CNC mill or saw.

1.2.2 Selecting an Overhead Crane It is difficult to select an overhead crane properly. Every crane is different, and none are built alike because no two buildings are alike. Because the industry has undergone massive consolidation in the last few years, it is important to choose a manufacturer that has experience in the market for purposes of safety and availability of spare parts. The Crane Manufacturer's Association of America (CMAA) can provide guidance on selecting a crane manufacturer.

CHAPTER-2 MAJOR COMPONENTS USED IN THE PROJECT

In our project the following are the major components used in the project : Three DC Gear motor of 12v and 0.6 amps rating. A step down transformer of 220/12volt rating. A rectification circuit for converting AC into DC. Two pulleys for moving the crane in x direction. Six switches for manual operation or for moving the crane in x, y,z directions. A electromagnet for picking the objects from ground level. A six input/output programmable logic controller (PLC) of delta 14SS for automation. A SMPS for providing the DC supply to the PLC and to the interfacing device. Connecting wires, cardboard, etc. Six limit switches Two push buttons for start and stop the Crane. Six 24volt double pole double throw DC operated relays. Power supply of 12V DC as well 24V DC.

The DC gear motor is used because of its low speed and high torque. Also the direction of rotation of the motor can be easily changed just by inter-changing the two terminals. When we inter-change the terminals of the motor the direction of rotation of field current reverses thus the magnetic field produced is also is in reverse order and motor starts rotating in reverse order. The gear system provides it low speed and high torque. A step down transformer of 220/12v is used for providing the power supply to the motor. This 12v supply is still AC. The rectification circuit converts this AC supply into DC. SMPS plays the same role for converting the AC supply into DC and also for step down the AC supply. The filter circuit inside the SMPS makes the DC in pure from, free from ripples. PLC is used for automation of the crane. As the name implies programmable logic controller i.e. it is a device which is programmed for the operation to be performed.

CHAPTER-3 CIRCUIT DIAGRAM

The circuit diagram for the operation of the crane in x, y, z directions is shown below.

Fig 3.1 Circuit Diagram for Motion of the Crane in x, y, z directions

CHAPTER-4 WORKING OF THE PROJECT/CRANE

The 220v AC supply applied at the input of the step down transformer TR1, where it gets step down to 12V. This supply is still AC but for the motors we require DC supply. So it is converted into DC by means of rectifier circuit. The transformer used here is 220/12 0 12 volt transformer that means it has it has neural in the center of the low winding side. The upper side of the transformer provides positive supply and lower end provides the negative supply continuously. The positive supply flows from diode to the right side or we can say one side of the forward switches. The diode D2 does not allow this supply to flow back to the neutral. Similarly the negative supply through the diode D3 and diode D4 does not allow to flow this negative supply towards neutral or positive supply and is connected to the one side of the reverse buttons. The remaning two terminls are common and supply is given to the motors. When forward button of motor X is pressed the supply flows from diode D1 to the right side of forward button to left to the motor from motor to the neutral, thus ciruit completes and motor starts rotating. In the similar fashion when the forward button of the y and z motor motor is pressed the motor starts rotating in the forward direction. In the same way when reverse button of the X motor or Y or Z motor is pressed the ve supply flows from diode D3 to the left side of the buttons to the motor and thus the motor starts rotating in the reverse order. The electromagnet is simple AC electromagnet which can be easily magnetized or demagnetized by pressing switch SW1. When SW1 is pressed AC currents flows throught it and it gets magnetized.

CHAPTER-5 PROGRAMMABLE LOGIC CONTROLLER (PLC)

5.1 INTRODUCTION TO PLC Programmable logic controller, as the name implies it is a device which is to be programmed. Thus a PLC is used for automatic working and is programmed first for their operation. Once the program is installed in the PLC there is no need of PC or laptop for the working of the crane and this program can be modified easily whenever desired according to the requirements. Now the question arises which one is best controller for the motion control of the crane.The most suitable type of controller to use for this system is a programmable logic controller (PLC). Within this control system there is no need for intensive signal or image processing. Hence there is no need for a desktop or laptop PC. Space is not a restriction and the system can accommodate a larger controller. The environment is harsh and electrical noise is present. So a PID microcontroller is not suitable. The most suitable device is a programmable logic controller (PLC). It has

good noise immunity. A PLC is also very easy to program. The program is also easy to understand, document and modify by others. Another advantage of the PLC is that it has standard digital inputs/outputs (I/O) at either 110 V AC or 24 V DC. These I/O are usually short circuit protected. In some cases they are also opto-isolated to prevent noise ingress into the PLC. The amount of programming is very simple in this case which makes a PLC also ideal for this application. The program will be very simple only requiring simple interlocking between the statuses of certain switches to arrive at the status of certain outputs.

5.2 DELTA 14SS PLC It is a PLC used for the automation. We have used Delta 14ss is used in our project. It is an eight input and six output DC 24volt operated PLC. Fig 5.2 shows the image of 14ss PLC. There are eight inputs i.e. X0-X7 and six outputs Y0-Y7 and two common terminals for applying 24volt DC supply. 8

Fig 5.2 Delta 14SS PLC

5.2.1 Delta 14ss Specifications

MPU points: 14 Max. I/O points: 238 Program capacity: 4K Steps Communication port: Built-in RS-232 and RS-485, compatible with MODBUS ASCII / RTU communication protocol

High-speed pulse output: Supports 2-point (Y0, Y1) independent highspeed pulse output of up to 10KHz

Built-in High-Speed Counters

CHAPTER-6 POWER SUPPLY

6.1 INTRODUCTION TO POWER SUPPLY In alternating current the electron flow is alternate, i.e. the electron flow increases to maximum in one direction, decreases back to zero. It then increases in the other direction and then decreases to zero again. Direct current flows in one direction only. Rectifier converts alternating current to flow in one direction only. When the anode of the diode is positive with respect to its cathode, it is forward biased, allowing current to flow. But when its anode is negative with respect to the cathode, it is reverse biased and does not allow current to flow. This unidirectional property of the diode is useful for rectification. A single diode arranged back-to-back might allow the electrons to flow during positive half cycles only and suppress the negative half cycles. Double diodes arranged back-toback might act as full wave rectifiers as they may allow the electron flow during both positive and negative half cycles. Four diodes can be arranged to make a full wave bridge rectifier. Different types of filter circuits are used to smooth out the pulsations in amplitude of the output voltage from a rectifier. The property of capacitor to oppose any change in the voltage applied across them by storing energy in the electric field of the capacitor and of inductors to oppose any change in the current flowing through them by storing energy in the magnetic field of coil may be utilized. To remove pulsation of the direct current obtained from the rectifier, different types of combination of capacitor, inductors and resistors may be also be used to increase to action of filtering.

6.1.1 Need of Power Supply Perhaps all of you are aware that a power supply is a primary requirement for the Test Bench of a home experimenters mini lab. A battery eliminator can eliminate or replace the batteries of solid-state electronic equipment and the equipment thus can be operated by 230v A.C. mains instead of the batteries or dry cells. Nowadays, the use of commercial battery eliminator or power supply unit has become increasingly popular as power source for household appliances like trans receivers, record player, cassette players, digital clock etc. 10

The diode is used to convert the AC voltage of the secondary into a DC voltage. A diode is a device designed to pass current in only one direction; thus it will conduct current during only one half of the voltage cycle. The proper diode connections (by convention, the triangle points in the direction of allowed current flow while the bar indicates the input that is barred from accepting current input). The 1k resistor for the output load, as shown below.

Fig 6.1.1 Half wave rectifier

6.1.2 Filtering Smoothing out the signal Since the current that you have produced now flows in only one direction it is called DC, but as you can see it is a fairly bumpy DC. More often than not applications call for very steady DC voltages. You can smooth out the bumps by adding a 100 F capacitor.

Fig 6.1.2 Filtering of DC

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6.1.3 Capacitor Input filter If a capacitor is placed before the inductors of a choke-input filter network, the filter is called capacitor input filter. The D.C. along with AC ripples from the rectifier circuit starts charging the capacitor C. to about peak value. The AC ripples are then diminished slightly. Now the capacitor C, discharges through the inductor or choke coil, which opposes the AC ripples, except the DC. The second capacitor C by passes the further AC ripples. A small ripple is still present in the output of DC, which may be reduced by adding additional filter network in series.

Circuit Diagram

Fig 6.1.3 Full Wave rectifier with filter circuit

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CHAPTER-7 TRANSFORMERS AND DIODES

7.1 INTRODUCTION TO TRANSFORMERS A transformer is a device that transfers electrical energy from one circuit to another by electromagnetic induction. The electrical energy is always transferred without a change in frequency, but may involve changes in magnitudes of voltage and current. Because a transformer works on the principle of electromagnetic induction, it must be used with an input source voltage that varies in amplitude. A transformer is a device that transfers electrical energy from one circuit to another through inductively coupled conductorsthe transformer's coils. A varying current in the first or primary winding creates a varying magnetic flux in the transformer's core and thus a varying magnetic field through the secondary winding. This varying magnetic field induces a varying electromotive force (EMF), or "voltage", in the secondary winding. This effect is called inductive coupling. If a load is connected to the secondary, current will flow in the secondary winding and electrical energy will be transferred from the primary circuit through the transformer to the load. In an ideal transformer, the induced voltage in the secondary winding (Vs) is in proportion to the primary voltage (Vp), and is given by the ratio of the number of turns in the secondary (Ns) to the number of turns in the primary (Np) as follows:

By appropriate selection of the ratio of turns, a transformer thus enables an alternating current (AC) voltage to be "stepped up" by making Ns greater than Np, or "stepped down" by making Ns less than Np. In the vast majority of transformers, the windings are coils wound around a ferromagnetic core, air-core transformers being a notable exception. 7.2 INDUCTION LAW The voltage induced across the secondary coil may be calculated from Faraday's law of induction, which states that: 13

Where Vs is the instantaneous voltage, Ns is the number of turns in the secondary coil and is the magnetic flux through one turn of the coil. If the turns of the coil are oriented perpendicular to the magnetic field lines, the flux is the product of the magnetic flux density B and the area A through which it cuts. The area is constant, being equal to the cross-sectional area of the transformer core, whereas the magnetic field varies with time according to the excitation of the primary. Since the same magnetic flux passes through both the primary and secondary coils in an ideal transformer,[30] the instantaneous voltage across the primary winding equals

Fig 7.2 Linking of flux through transformers core

Taking the ratio of the two equations for Vs and Vp gives the basic equation[31] for stepping up or stepping down the voltage

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Np/Ns is known as the turns ratio, and is the primary functional characteristic of any transformer. In the case of step-up transformers, this may sometimes be stated as the reciprocal, Ns/Np. Turns ratiois commonly expressed as an irreducible fraction or ratio: for example, a transformer with primary and secondary windings of, respectively, 100 and 150 turns is said to have a turns ratio of 2:3 rather than 0.667 or 100:150. 7.3 DIODES Diode is a marvelous device that passes current only in one direction Diodes can be used for various applications like Voltage Rectification & Regulation, Clipping & Clamping of voltages, making digital logic circuits, modulation, photo-voltaic and so on. Light Emitting Diodes (LED's) are used for light production in visible and invisible region of Electromagnetic spectrum. Many nations have switched their traffic light to LED's so that they have higher operational efficiency. PIN diodes are used for electricity production from light, they constitute much of Solar Cells A diode is an electrical device allowing current to move through it in one direction with far greater ease than in the other. The most common kind of diode in modern circuit design is the semiconductor diode, although other diode technologies exist.

Semiconductor diodes are symbolized in schematic diagrams such as Figure below. The term diode is customarily reserved for small signal devices, I 1 A. The term rectifier is used for power devices, I > 1 A.

Fig 7.3 Semiconductor diode schematic symbol: Arrows indicate the direction of electron current flow.

When placed in a simple battery-lamp circuit, the diode will either allow or prevent current through the lamp, depending on the polarity of the applied voltage. (Figure below)

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Fig 7.3.1 Diode operation: (a) Current flow is permitted; the diode is forward biased. (b) Current flow is prohibited; the diode is reversed biased.

When the polarity of the battery is such that electrons are allowed to flow through the diode, the diode is said to be forward-biased. Conversely, when the battery is backward and the diode blocks current, the diode is said to be reverse-biased. A diode may be thought of as like a switch: closed when forward-biased and open when reversebiased.

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CHAPTER-8 DC MOTORS
8.1 INTRODUCTION TO DC MOTORS Faradays used oversteds discovered, that electricity could be used to produce motion, to build the world first electric motor in 1821. Ten years later, using the same logic in reverse, faraday was interested in getting the motion produced by oersteds experiment to be continuous, rather then just a rotatory shift in position. In his experiments, faraday thought in terms of magnetic lines of force. He visualized how flux lines existing around a current carrying wire and a bar magnet. He was then able to produce a device in which the different lines of force could interact a produce continues rotation. The basic faradays motor uses a free-swinging wire that circles around the end of a bar magnet. The bottom end of the wire is in a pool of mercury. Which allows the wire to rotate while keeping a complete electric circuit.

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8.2 MOTOR ACTION Although Faraday's motor was ingenious. It could not be used to do any practical work. This is because its drive shaft was enclosed and it could only produce an internal orbital motion. It could not transfer its mechanical energy to the outside for deriving an external load. However it did show how the magnetic fields of a conductor and a magnet could be made to interact to produce continuous motion. Faradays motor orbited its wire rotor must pass through the magnets lines of force.

Fig 8.1 Basic Principle working of DC motor

When a current is passes through the wire ,circular lines of force are produced around the wire. Those flux lines go in a direction described by the left-hand rule. The lines of force of the magnet go from the N pole to the S pole You can see that on one side of the wire, the magnetic lines of force are going in the opposite direction as a result the wire, s flux lines oppose the magnets flux line since flux lines takes the path of least resistance, more lines concentrate on the other side of the wire conductor, the lines are bent and are very 18

closely spaced. The lines tend to straighten and be wider spaced. Because of this the denser, curved field pushes the wire in the opposite direction. The direction in which the wire is moved is determined by the right hand rule. If the current in the wire went in the opposite direction. The direction of its flux lines would reverse, and the wire would be pushed the other way.

8.3 RULES OF MOTOR ACTION The left hand rule shows the direction of the flux lines around a wire that is carrying current. When the thumb points in the direction of the magnetic lines of force. The right hand rule for motors shows the direction that a current carrying wire will be moved in a magnetic field. When the forefinger is pointed in the direction of the magnetic field lines, and the centre finger is pointed in the direction of the current in the wire the thumb will point in the direction that the wire will be moved.

Fig 8.2 Flemings Left and Right hand rule

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Fig 8.3 Axis of rotation in magnetic field

8.4 TORQUE AND ROTATORY MOTION In the basic action you just studied the wire only moves in a straight line and stops moving once out of the field even though the current is still on. A practical motor must develop a basic twisting force called torque loop. We can see how torque is produced. If the loop is connected to a battery. Current flows in one direction one side of the loop, and in the opposite direction on the other.Therefore the concentric direction on the two sides. If we mount the loop in a fixed magnetic field and supply the current the flux lines of the field and both sides of the loop will interact, causing the loop to act like a lever with a force pushing on its two sides in opposite directions. The combined forces result in turning force, or torque because the loop is arranged to piot on its axis. In a motor the loop that moves in the field is called an armature or rotor. The overall turning force on the armature depends upon several factors including field strength armature current strength and the physical construction of the armature especially the distance from the loop sides to the axis lines. Because of the lever action the force on the sides are further from the axis; thus large armature will produce greater torques.

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Fig 8.4 Torque production

In the practical motor the torque determines the energy available for doing useful work. The greater the torque the greater the energy. If a motor does not develop enough torque to pull its load it stalls.

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8.5 COMMUTATOR For the single-loop armature, the commutator is simple. It is a conducting ring that is split into two segment with each segment connected to an end of the armature loop. Power for the armature from an external power source such as a battery is brought to the commutator segments by means of brushes. The arrangement is almost identical to that for the basic dc generator. The logic behind the operation of the commutator is easy to see in the figures. You can see in figure A that current flows into the side of the armature closest to the South Pole of the field and out of the side closest to the North Pole. The interaction of the two fields produces a torque in the direction indicated, and the armature rotates in that direction. No torque is produced but the armature continues to rotate past the neutral plane due to inertia. Notice that at the neutral position the commutator disconnects from the brushes sides of the loop reverse positions. But the switching action of the commutator keeps the direction of current flow through the armature the same as it was in the figure. A. Current still flows into the armature side that is now closest to the South Pole. Since the magnets field direction remains the same throughout the interaction of fields after commutation keeps the torque going in the original direction; thus the same direction of rotation is maintained. As you can see in figure D, Inertia again carries the armature past neutral to the position shown in the fig. A while communication keeps the current flowing in the direction that continues to maintain rotation. In this way, the commutator keeps switching the current through the loop, so that the field it produces always interacts with the pole field to develop a continuous torque in the same direction.

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Fig 8.5 (a,b,c,d) Postioning of commutator and rotation of motor

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FUTURE SCOPE
The 3D crane is the most advanced feature Crane uses PLC as there CPU. The PLC makes it power tool in the field of engineering. Presently, we are using manpower or simple x y cranes for lifting the heavy objects which is very unreliable may leads to accidents. The 3D crane is safe in operation as there is no man work. Only a single person can operate whole of the system even a single person is not needed. The operation of the 3D crane saves the time as well as money. The main features of the 3D crane is :Fast and Affordable

All Link-Belt and current Terex cranes are provided completely free of charge. Purchase other cranes for as little as one week, paying for just the time you need. You can add cranes to your fleet in seconds. You no longer have to wait days or weeks for an installation for all your pc's.

Convenient and Easy-to-Use

Access your lift plans from any computer. You will always have the latest version, no need to install updates. No CAD software required. User-friendly, simple, and straightforward.

Innovative and Powerful

Build 3D jobsites and loads. Create detailed rigging designs with hooks, shackles, slings, and more. Determine sling lengths, heights, and angles. Simulate your lift while monitoring the crane's capacity. View the lift in 3D from any angle. Powerful crane selection algorithm accounts for any obstruction in your jobsite and searches your entire fleet in seconds.

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CONCLUSION
3D Crane is three directional crane which moves in forward and reverse direction. If we are using 3D crane it reduces the human efforts. There is electromagnetic claw which picks the material and place where it desired to be placed. In this advance era man need advance technology that is shown in 3D crane. If we increase the possibility of 3D crane the work progression will be high. The productivity of the material will also high.

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REFRENCES
1.^ Kurrer, Karl-Eugen (2008). The history of the theory of structures: from arch analysis to computational mechanics. Berlin: Ernst & Sohn. pp. 411415. ISBN 3-43301838-3. 2.^ "Improved overhead steam traveling crane". Scientific American (New

York) XXXI (794). 21 March 1891. 3.^ Kurrer, Karl-Eugen (2008). The history of the theory of structures: from arch analysis to computational mechanics. Berlin: Ernst & Sohn. pp. 411415. ISBN 3-43301838-3. 4. ^ Smith, Anthony. (1993). Reliability-Centered Maintenance New York: McGraw-Hill Sothard, Tom. (1996). Crane maintenance directly affects overall costs, operating efficiency. Pulp & Paper, 70 (7) 95-101 5. ^ Tajiri, Masaji & Gutoh, Fumo. (1992). TPM Implementation, A Japanese Approach. New York: McGraw-Hill 6. ^ Center to Protect Workers Rights. (1998). The Construction Chart Book, The U.S. Construction Industry and Its Workers. Washington, DC: CPWR 7. ^ Root cause failure analysis: An often overlooked key to improving equipment performance. Plant Engineering, 50 (9) 138-41 8. ^ Palmer, William. (1996). Construction Insurance, Bonding and Risk Management. New York: McGraw-Hill 9. ^ Turco, F. (1984). A nearly optimal inspection policy for productive equipment. International Journal of Production Research, 22 (3) 515-52 10. Fuzzy logic controller for overhead cranes by Mohammed T.

Hayajneh Industrial Engineering Department, Jordan University of Science and Technology, Irbid, Jordan, and Saleh M. Radaideh and Issam A. Smadi Electrical Engineering Department, Jordan University of Science and Technology, Irbid, Jordan

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APPENDIX- I Fuzzy Logic Controller for Overhead Cranes

This paper was published by Mohammed T. Hayajneh Saleh M. Radaideh, industrial engineering department and Isam A. Smadi electrical endd department working at Jordan uviversity of science and technology, Irbid, Jordan

Abstract To propose a new method for controlling the overhead crane systems based on the theory of fuzzy logic with a reduced number of rules than has appeared before in the literature. The proposed fuzzy logic controller (FLC) can be implemented to move the overhead crane along a desired path while ensuring that the payload is swing free at the end of the motion.

Introduction Overhead Cranes are widely used in industry for load transfer. In most of the applications, it is desired for the overhead crane to transport the payloads to the required position as fast and as accurately as possible without collision with other equipments. Such fast motion would induce undesirable payload swinging, which may cause load damage and other types of hazards, and hence reduces the operation efficiency. Therefore, these oscillations have to be damped before other payload manipulation is done. Performance of any motion control system is limited by variations of system parameters and disturbances such as payload change. This is specially applied for overhead crane. As known, overhead cranes are used widely where large and heavy payloads are handled such as shipyards and power stations (Manson, 1982). Expert systems (skill of operator) play a central role in safe payload transport and accurate positioning. Swinging of the suspended payload usually is due to accelerating and decelerating of the overhead crane, which reduces the operational efficiency and increases the risk of accidents. To accommodate crane system nonlinearity and parameter variations, researchers have recently directed their attention to fuzzy logic control. Lee 28

and Cho (2001) used fuzzy logic only in anti-swing control and applied position servo control for positioning and swing damping.

Conclusion In this study, a FLC is designed and successfully implemented to move the overhead crane along a desired path while ensuring that the payload is swing free at the end of the motion. The proposed FLC is divided into displacement and swing controllers. The inputs to these controllers are the displacement and velocity errors with respect to the desired motion profile. The outputs of the controllers are the forces needed to move the cross-beam and the trolley. Control simulation results demonstrate that by using the fuzzy controller, the overhead traveling crane smoothly moves to the destination I short time interval with small swing angle and almost no overshoot. The numerical simulation of the proposed FLC is compared with PD controller to demonstrate the effectiveness of the proposed FLC. Simulation results show that the proposed FLC improved the response of the system (e.g. reduced overshoot and faster settling time) over the PD controller.

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APPENDIX-II Fast Nonlinear MPC for an Overhead Travelling Crane

This paper was published by Dominik Schinndele Harald Aschemann working at university of Rostock, Germany.

Abstract This paper presents a nonlinear model predictive control scheme for the two main axes of an overhead travelling crane, which guarantees both tracking of desired tra jectories for the crane load and an active damping of crane load oscillations. The main idea of the used NMPC algorithm consists in a minimization of the tracking error at the end of the prediction horizon. That way the computation load can be kept relatively small. The varying length of the rope is considered by gain scheduling techniques. The position of the crane load is measured by a CMOS camera using the spatial filtering principle. Desired tra jectories for the crane load position in the three-dimensional workspace can be tracked independently with high accuracy. experimental results from an implementation on a test rig show a high control performance.

Introduction In the last decade, numerous model-based tra jectory con- trol schemes for overhead travelling cranes have been proposed by different authors. Beside nonlinear control approaches exploiting differential flatness energy based control, and extended linearisation techniques have proved efficient, Feedback control provides for accurate tracking of desired tra jectories for the crane load in the three-dimensional workspace. In practical im- plementations, however, the additional inclusion of appro- priate control action to counteract disturbances, especially nonlinear friction acting on the drives, is crucial. The first principle modelling of the two main translational crane axes is addressed first. Aiming at a decentralized control

structure, for each axis a separate design model is derived in symbolic form by exploiting Lagranges equations. 30

Conclusion This paper presents a gain-scheduled fast nonlinear model predictive control strategy for the translational axes of an overhead travelling crane. The suggested control algorithm aims at reducing the future tracking error at the end of the prediction horizon. This NMPC approach can be computed within very small sample times and is well suited for systems with fast dynamics. A further advantage of the presented control algorithm is the possibility to account for input constraints. The efficiency of the proposed control is shown by experimental results realized at a test rig at the University of Rostock, involving tracking of desired tra jectories within the xyzplane. The maximum tracking errors of approximately 6mm emphasize the excellent closed-loop performance.

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