Practical Implementation of Anti-Skew Fuzzy Logic Controller for Semi-Gantry Crane

This paper presents a case study of a 4 input 1 output Fuzzy Logic Controller implementing the anti-skew control for a semi-gantry crane. It was necessary due to the wear and tear caused by the skewed movement and the braking resistor overheating. The control system is designed to monitor two analog proximity sensors, measuring the carriage-to-rail distance as well as the torque feedback from the drives. The fuzzy algorithm is implemented on a Programmable Logic Controller and controls the Variable Frequency Drives through digital and analog signals. The proposed control system performed as intended, by preventing the traveling motors from the generator work and the crane from skewing.