A comparison of PID and PD controller with input shaping technique for 3D gantry crane

Abstract

This paper presents an efficient control of a 3D dimensional gantry crane with payload. In order to have a gantry crane perform in fast motion, the system will experience significant payload sway. With large sway angle of payload the system performance degrade and this will affect the efficiency of the system. Therefore, input shaping techniques with controller will be introduce to the system in order to achieve small sway angle of payload with minimum settling time. The simulation of system is performed by using Matlab/Simulink. System response including positions of rail and position of trolley and payload and payload sway angle are obtained and been analyzed in time domain and frequency domain. The behaviors of the system without any controller have been analyzed and the system excited sway angle in long period. Therefore, Proportional Derivative (PD) and Proportional Integral Derivative (PID) controller with input shaping technique for input tracking and reduction of payload have been proposed. Parameters of the controller are defined using Ziegler Nichols tuning rules. With proposed controller, the 3D gantry crane shows that the system is capable of minimizing the payload sway while achieving satisfactory input tracking performance. The evaluation of performance of controller is examined in terms of input tracking capability and level of sway reduction.