Cover Image

Active sway control of a gantry crane system using LQR controller

This project is about the development of Active Sway Control of a Two-Dimensional Gantry Crane (2D – Gantry Crane) System using Linear Quadratic Regulator (LQR) controller. This project analyzes on how to reduce the sway angle of the rode when it is released from certain position. This system is a 2...

Full description

Saved in:
Bibliographic Details
Main Author: Khairul Azmi, Mohd Yusoff
Format: Undergraduates Project Papers
Language:English
Published: 2010
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/1984/1/19.Active%20sway%20control%20of%20a%20gantry%20crane%20system%20using%20LQR%20controller.pdf
http://umpir.ump.edu.my/id/eprint/1984/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.ump.umpir.1984
record_format eprints
spelling my.ump.umpir.19842023-03-21T03:24:42Z http://umpir.ump.edu.my/id/eprint/1984/ Active sway control of a gantry crane system using LQR controller Khairul Azmi, Mohd Yusoff TJ Mechanical engineering and machinery This project is about the development of Active Sway Control of a Two-Dimensional Gantry Crane (2D – Gantry Crane) System using Linear Quadratic Regulator (LQR) controller. This project analyzes on how to reduce the sway angle of the rode when it is released from certain position. This system is a 2D system because the rode’s movement is only along the x and y axes. The 2D Gantry Crane system consists of several elements such as the cart, rode, actuator, payload and controller. The movement of the cart will cause the swaying motion of the rode because the speed of the cart is directly proportional with the sway angle of the rode. If the speed of the cart is increased, the sway angle also increases. The swaying motion will decrease the efficiency of the crane system. In order to increase the efficiency of the crane system, the crane will need an efficient controller to reduce the sway angle. The rode of the gantry crane will be controlled by using LQR controller. LQR is derived by a set of linear differential equation and the cost is described by a quadratic functional. The main objective of LQR controller is to obtain the best performance of dynamic system at the minimum cost. Performance of the system focuses on the sway angle caused by the rode’s movement and the Power Spectral Density (PSD) of the sway angle response 2010-12 Undergraduates Project Papers NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/1984/1/19.Active%20sway%20control%20of%20a%20gantry%20crane%20system%20using%20LQR%20controller.pdf Khairul Azmi, Mohd Yusoff (2010) Active sway control of a gantry crane system using LQR controller. Faculty Of Electrical & Electronic Engineering, Universiti Malaysia Pahang.
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Khairul Azmi, Mohd Yusoff
Active sway control of a gantry crane system using LQR controller
description This project is about the development of Active Sway Control of a Two-Dimensional Gantry Crane (2D – Gantry Crane) System using Linear Quadratic Regulator (LQR) controller. This project analyzes on how to reduce the sway angle of the rode when it is released from certain position. This system is a 2D system because the rode’s movement is only along the x and y axes. The 2D Gantry Crane system consists of several elements such as the cart, rode, actuator, payload and controller. The movement of the cart will cause the swaying motion of the rode because the speed of the cart is directly proportional with the sway angle of the rode. If the speed of the cart is increased, the sway angle also increases. The swaying motion will decrease the efficiency of the crane system. In order to increase the efficiency of the crane system, the crane will need an efficient controller to reduce the sway angle. The rode of the gantry crane will be controlled by using LQR controller. LQR is derived by a set of linear differential equation and the cost is described by a quadratic functional. The main objective of LQR controller is to obtain the best performance of dynamic system at the minimum cost. Performance of the system focuses on the sway angle caused by the rode’s movement and the Power Spectral Density (PSD) of the sway angle response
format Undergraduates Project Papers
author Khairul Azmi, Mohd Yusoff
author_facet Khairul Azmi, Mohd Yusoff
author_sort Khairul Azmi, Mohd Yusoff
title Active sway control of a gantry crane system using LQR controller
title_short Active sway control of a gantry crane system using LQR controller
title_full Active sway control of a gantry crane system using LQR controller
title_fullStr Active sway control of a gantry crane system using LQR controller
title_full_unstemmed Active sway control of a gantry crane system using LQR controller
title_sort active sway control of a gantry crane system using lqr controller
publishDate 2010
url http://umpir.ump.edu.my/id/eprint/1984/1/19.Active%20sway%20control%20of%20a%20gantry%20crane%20system%20using%20LQR%20controller.pdf
http://umpir.ump.edu.my/id/eprint/1984/
_version_ 1761616553478979584
score 13.211869

Similar Items