Research Article
Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
Table 1
Notation and numerical values of the gantry crane parameters.
| Symbol | Description | Value | Unit |
| | The armature resistance of the motor | 2.6 | | | The torque constant of the motor | 0.00767 | N⋅m/A | | The efficiency of the motor | 100% | | | Back EMF constant of the motor | 0.00767 | V⋅sec/rad | | Planetary gearbox ratio | 3.7 | | | Planetary gearbox efficiency | 100% | | | Mass of the cart | 1.0731 | Kg | | The viscous damping at motor pinion | 5.4 | N⋅m⋅sec/m | | The radius of the motor pinion | | m | | Mass of the payload | 0.23 | Kg | | The length of the pendulum | 0.3302 | m | | The moment of inertia of the pendulum | | Kg⋅m2 | | The viscous damping at pendulum axis | 0.0024 | N⋅m⋅sec/rad | | Gravitational constant | 9.81 | m/sec2 |
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