Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes
This project presents investigations into the development of hybrid input-shaping and PID control schemes for active sway control of a gantry crane system. The application of positive input shaping involves a technique that can reduce the sway by creating a common signal that cancels its own vibrati...
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| Format: | Article |
| Language: | en |
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IOP Publishing
2013
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| Online Access: | http://umpir.ump.edu.my/id/eprint/4267/1/fkee-2013-zaidi-active_sway_control.pdf http://umpir.ump.edu.my/id/eprint/4267/ http://dx.doi.org/10.1088/1757-899X/50/1/012029 |
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| _version_ | 1831521522105188352 |
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| author | Mohd Zaidi, Mohd Tumari Latifah, Shabudin Mohd Anwar, Zawawi L. H., Shah |
| author_facet | Mohd Zaidi, Mohd Tumari Latifah, Shabudin Mohd Anwar, Zawawi L. H., Shah |
| author_sort | Mohd Zaidi, Mohd Tumari |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This project presents investigations into the development of hybrid input-shaping and PID control schemes for active sway control of a gantry crane system. The application of positive input shaping involves a technique that can reduce the sway by creating a common signal that cancels its own vibration and used as a feed-forward control which is for controlling the sway angle of the pendulum, while the proportional integral derivative (PID) controller is used as a feedback control which is for controlling the crane position. The PID controller was tuned using Ziegler-Nichols method to get the best performance of the system. The hybrid input-shaping and PID control schemes guarantee a fast input tracking capability, precise payload positioning and very minimal sway motion. The modeling of gantry crane is used to simulate the system using MATLAB/SIMULINK software. The results of the response with the controllers are presented in time domains and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specification. |
| format | Article |
| id | my.ump.umpir.4267 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2013 |
| publisher | IOP Publishing |
| record_format | eprints |
| spelling | my.ump.umpir.42672018-03-19T05:41:30Z http://umpir.ump.edu.my/id/eprint/4267/ Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes Mohd Zaidi, Mohd Tumari Latifah, Shabudin Mohd Anwar, Zawawi L. H., Shah TJ Mechanical engineering and machinery This project presents investigations into the development of hybrid input-shaping and PID control schemes for active sway control of a gantry crane system. The application of positive input shaping involves a technique that can reduce the sway by creating a common signal that cancels its own vibration and used as a feed-forward control which is for controlling the sway angle of the pendulum, while the proportional integral derivative (PID) controller is used as a feedback control which is for controlling the crane position. The PID controller was tuned using Ziegler-Nichols method to get the best performance of the system. The hybrid input-shaping and PID control schemes guarantee a fast input tracking capability, precise payload positioning and very minimal sway motion. The modeling of gantry crane is used to simulate the system using MATLAB/SIMULINK software. The results of the response with the controllers are presented in time domains and frequency domains. The performances of control schemes are examined in terms of level of input tracking capability, sway angle reduction and time response specification. IOP Publishing 2013 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/4267/1/fkee-2013-zaidi-active_sway_control.pdf Mohd Zaidi, Mohd Tumari and Latifah, Shabudin and Mohd Anwar, Zawawi and L. H., Shah (2013) Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes. IOP Conference Series: Materials Science and Engineering, 50 (1). pp. 1-11. ISSN 1757-8981 (Print), 1757-899X (Online). (Published) http://dx.doi.org/10.1088/1757-899X/50/1/012029 DOI: 10.1088/1757-899X/50/1/012029 |
| spellingShingle | TJ Mechanical engineering and machinery Mohd Zaidi, Mohd Tumari Latifah, Shabudin Mohd Anwar, Zawawi L. H., Shah Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title | Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title_full | Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title_fullStr | Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title_full_unstemmed | Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title_short | Active Sway Control of a Gantry Crane Using Hybrid Input Shaping and PID Control Schemes |
| title_sort | active sway control of a gantry crane using hybrid input shaping and pid control schemes |
| topic | TJ Mechanical engineering and machinery |
| url | http://umpir.ump.edu.my/id/eprint/4267/1/fkee-2013-zaidi-active_sway_control.pdf http://umpir.ump.edu.my/id/eprint/4267/ http://dx.doi.org/10.1088/1757-899X/50/1/012029 |
| url_provider | http://umpir.ump.edu.my/ |