Logarithmic based adaptive control of crane systems with uncertain model parameters

Cranes; While moving along their determined directions, they create an oscillatory movement on the loads they carry. This oscillatory movement that occurs during the transportation of loads is an undesirable situation on the crane system and negatively affects the efficiency of the transportation process. This situation reveals the problem of suppressing the load oscillation that occurs in crane systems. Various techniques and methods have been used in the literature to suppress the load oscillation that occurs on crane systems. The aim is to optimally dampen the oscillation of the crane while carrying the load and to control the orbit of the crane. The loads lifted in crane systems vary. Since the loads lifted by the crane are uncertain, the crane system parameters are also uncertain. During load transportation in cranes, both the orbit and oscillation control of the crane must be carried out. Adaptive control is among the controllers used in mechanical systems when model parameters are uncertain. In this study, it is aimed to perform orbit and oscillation control simultaneously in case the parameters of the crane systems are uncertain. For this reason, a Logarithmic Based Adaptive Control method, which is different from the controllers in the literature, was applied to the crane system and the system stability was ensured to reach the most ideal states. Third degree and fifth degree polynomial trajectories were created for the crane system and the stability of the system was examined based on the new trajectories with Logarithmic based Adaptive control. The purpose of the new orbit equations designed is to increase the power and operating ability of Adaptive control. Findings and results obtained; It has been proven that Logarithmic Based Adaptive Control can successfully complete both orbit and oscillation control of the crane system. The thesis shows the results of the crane system based on PID control and Logarithmic Based Adaptive Control. It is seen that the skill of the Logarithmic Based Adaptive Control used achieves a better result than the other control method. With Logarithmic Based Adaptive Control, which has been applied to the crane system for the first time, system oscillation has been reduced to the ideal level and the orbit control ability of the crane system has been increased. It is also seen that Logarithmic Based Adaptive Control was successful in reducing the oscillation and keeping the orbital control of the system under control at the same time.