Abstract
The article presents 3D crane control of all three axes (XYZ) and both angles (\(\alpha \) and \(\beta \)). PID controllers and their fractional counterparts - FOPID controllers, which have two additional parameters, were used. Previous research focused on a direct comparison of the two types of controllers. This time, the authors used various combinations to check which part of the system influences the quality of control the most. The model and simulations were implemented in the Matlab/Simulink environment. Grey-Wolf Optimizer was used to optimize the controller coefficients. Several combinations of PID and FOPID controllers were compared (e.g. 2 PID controllers on the XY axes and 3 FOPID controllers on the Z axis and \(\alpha \) and \(\beta \) angles).
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Żegleń-Włodarczyk, J., Wajda, K. (2022). PID and FOPID Controllers Combinations During Control of 3D Crane Optimized with GWO Algorithm. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2022: New Solutions and Technologies for Automation, Robotics and Measurement Techniques. AUTOMATION 2022. Advances in Intelligent Systems and Computing, vol 1427. Springer, Cham. https://doi.org/10.1007/978-3-031-03502-9_6
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DOI: https://doi.org/10.1007/978-3-031-03502-9_6
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