Development of a Fuzzy Controller for Damping Oscillations of a Flexible Suspended Load in the Electromechanical Systems of Crane Mechanisms

The article addresses studies aimed at damping the vibrations that occur in the crane travel mechanisms when moving a load on a flexible suspension. An algorithm has been developed for developing a universal control unit based on fuzzy logic that adjusts the electric drive speed setting signal. A step-by-step development of a universal fuzzy controller in the MATLAB Simulink environment is presented, the use of which will reduce the load on processor hardware resources. The results of studing the use of the proposed universal fuzzy controller as a unit for damping vibration of a flexibly suspended load are presented. The use of the controller made it possible to reduce the amplitude of load fluctuations during transients and reduce it to zero in steady state by introducing a corrective addition to the signal coming from the intensity setpoint adjuster. An increase in the deviation of the load entails an increase in the correction signal output from the fuzzy controller, causing the movement mechanism to slow down, thereby resulting in a smaller angle by which the load deviates from the vertical position.