Active sway control of a gantry crane using hybrid input shaping and PID control schemes

M Z Mohd Tumari,M A Zawawi,L H Ahmad Shah,L Shabudin

doi:10.1088/1757-899x/50/1/012029

Abstract

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.

Highlights

Cranes are commonly employed in the transport industry for the loading and unloading of freight, in the construction industry for the movement of materials and in the manufacturing industry for the assembly of heavy equipment
In this investigation, hybrid input shaping and proportional integral derivative (PID) control schemes are implemented on gantry crane system and the corresponding results are presented
To study the effectiveness of sway suppression, positive zero-sway (PZS), Positive zero-sway-derivative (PZSD) and positive zero sway- derivative-derivative (PZSDD) shapers with PID controller are designed based on the sway frequencies and damping ratios of the gantry crane system

Summary

Introduction

Cranes are commonly employed in the transport industry for the loading and unloading of freight, in the construction industry for the movement of materials and in the manufacturing industry for the assembly of heavy equipment. 2. Modeling of Gantry Crane System The two-dimensional gantry crane system with its payload considered in this work is shown, where x is the horizontal position of the cart, L is the length of the rope, θ is the sway angle of the rope, M and m is the mass of the cart and payload respectively. Modeling of Gantry Crane System The two-dimensional gantry crane system with its payload considered in this work is shown, where x is the horizontal position of the cart, L is the length of the rope, θ is the sway angle of the rope, M and m is the mass of the cart and payload respectively In this simulation, the cart and the payload can be considered as point masses and are assumed to move in two-dimensional, x-y plane. The following condition will satisfy the aim: The linear model of the uncontrolled system can be represented in a state-space form as shown in equation by assuming the change of rope and sway angle are very small. The state space of gantry crane is represents in Eq (8-10)

Input Shaping and PID Control Schemes

Results and Discussion

Conclusion