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⋅m^2
	The viscous damping at pendulum axis	0.0024	N⋅m⋅sec/rad
	Gravitational constant	9.81	m/sec^2