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  • Author: Jarosław Smoczek x
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Jarosław Smoczek and Janusz Szpytko

Pole Placement Approach to Crane Control Problem

The time and positioning accuracy of transportation operations realized by material handling systems are more and more significant problem in automated manufacturing processes, as well as the exploitation quality, safety and reliability, which can be met by implementing automation systems and improving control quality of material handling devices. The presented problem of anti-sway control system was solved using pole placement method employed to the time-discrete closed loop crane control system, which can be used in adaptive solutions. The proposed solution is based on the assumption, that crane nonlinear system is considered as a linear model with varying parameters.

Open access

Jarosław Smoczek and Janusz Szpytko

The Application of a Neuro-Fuzzy Adaptive Crane Control System

The unconventional methods, mostly based on fuzzy logic, are often addressed to a problem of anti-sway crane control. The problem of practical application of those solutions is important owing to come the growing expectations for time and precision of transportation operations and exploitation quality of material handling devices. The paper presents the designing methods of an adaptive anti-sway crane control system based on the neuro-fuzzy controller, as well as the software and hardware equipments used to aid the programming realization the fuzzy control algorithm on a programmable logic controller (PLC). The proposed application of control system was tested on the laboratory model of an overhead traveling crane.

Open access

Jarosław Smoczek and Janusz Szpytko

Heuristic Approach to Trajectory Planning of N-th Numerous Set of Automated Cranes

Today new requirements are put for optimization, synchronization and planning the transportation operations supported via n-th numerous set composed by automated cranes, including also their availability. The above needs is the subject of consideration in the paper, and solved based on heuristic approach. The method of i-th cranes operations planning, as well as time-optimal and non-collision moving trajectory of a payload shifted by crane is solved using searching graph algorithm based on heuristic function. The presented approach is possible to apply also to n-th numerous sets of automated cranes. The application of crane set control system was based on supervisory system (HMI/ SCADA system) equipped in user interface for implementing the heuristic knowledge about considered process used to aid decision-making process.

Open access

Jarosław Smoczek and Janusz Szpytko

Integrated Supervisory System to Aid Decision-Making Process in M-MS System

The paper presents integrated supervisory transport system of manufacturing process to aid decision-making process in M-MS (Man-Machine System). The software environment type of HMI (Human - Machine Interface) was shown which supplies tools to user for creating and modifying base of knowledge about supervisory process used in monitoring the process states and decisionmaking process. The example of hardware-software application was built and tested for the aim of supervising transportation process realized by the overhead traveling crane.

Open access

Jarosław Smoczek and Janusz Szpytko

The Fuzzy Robust Anti-Sway Crane Control System

The paper presents the pole placement approach to solve problem of conventional, based of proportional-derivative controllers, as well as robust, based of fuzzy controller, anti-sway crane control. The methods of robust gain-scheduling crane control system and selecting minimal set of operating points were shown. The fuzzy robust controller, based of Takagi-Sugeno-Kang inference system, was presented, as well as results of experiments, carried out using laboratory model of an overhead traveling crane, were shown in the paper.

Open access

Jarosław Smoczek

Abstract

A hybrid method combining an evolutionary search strategy, interval mathematics and pole assignment-based closed-loop control synthesis is proposed to design a robust TSK fuzzy controller. The design objective is to minimize the number of linear controllers associated with rule conclusions and tune the triangular-shaped membership function parameters of a fuzzy controller to satisfy stability and desired dynamic performances in the presence of system parameter variation. The robust performance objective function is derived based on an interval Diophantine equation. Thus, the objective of a fuzzy logic-based control scheme is to place all the closed-loop control system characteristic polynomial coefficients within desired intervals. The reproduction process in the proposed Evolutionary Algorithm (EA) is based on the arithmetical crossover, uniform and non-uniform mutation along with gene deletion/insertion mutation ensuring a diversity of genomes sizes, as well as a diversity in the parameter space of membership functions. The proposed algorithm was implemented to design a fuzzy logic-based anti-sway crane control system taking into consideration the rope length and the mass of a payload variation. The results of experiments conducted using the EA for different conditions assumed for system parameter intervals and desired closed-loop system performances are compared with results achieved using the iterative procedure which is also described in the paper.

Open access

Janusz Szpytko, Jarosław Smoczek and Artur Kocerba

Integrated System to Aid Supervisory Process of Technical Device

The aim of the paper is integrated system to aid supervisory process of technical device taking into consideration required level of exploitation safety and dependability. Preservation of accepted technical state of the machines and devices requires from users proper decisions which are results of continuous as well as periodically monitoring exploitation parameters' changes. Essential problem is digital drawing and conversion information from process of object exploitation and creating multi-access databases.