Hardware-In-The-Loop Simulation (HILS) Based Design and Evaluation of an Intelligent Gantry Crane System

To overcome the above-mentioned problem, an intelligent gantry crane system is designed based on the mechatronic design approach. The proposed intelligent gantry crane is realized by adopting fuzzy logic controllers. The proposed fuzzy logic controllers consist of position as well as anti-swing controllers. Fuzzy logic control was designed based on information of the skillful operators and without the need of crane model and parameters. The performance of the proposed intelligent gantry crane system is evaluated experimentally on hardware-in-the-loop simulation environment. Moreover robustness of the proposed intelligent gantry crane system is also evaluated through simulation. The evaluation result showed that the intelligent gantry crane system had produced good performances compared with the automatic crane system controlled by classical PID controllers. In addition, simulation results show that the proposed system is more robust to parameter variation than the automatic crane system controlled by classical PID controllers.