Application of Non-Model Dependent Hybrid Higher-Order Differential Feedback Controller on Crane System

Abstract

Shipping of goods from one place to another in industries is commonly achieved with crane system. But such movement of the system results in undesirable sway which degrades the accuracy and safety. In this paper, hybrid control schemes of the model-dependent and non-model dependent filters and controllers are proposed for precise trolley position control and sway suppression of the crane systems. Output based filter (OBF) was designed usingtheoutputofthesystem,soitdoesnotdependonthemodelofthesystemwhiletimedelayfilters(TDF)were designed using the model parameters (i.e. natural frequency and damping ratio), in which Zero Vibration (ZV) and zero vibration derivative (ZVD) were considered. These depend on the model of the system and these filters are for sway suppression of the payload. In addition, proportional integral derivative (PID) controller and higher order differential feedback controller (HODFC) were incorporated with each filter separately for precise trolley position control. Based on the analysis of the simulation results, it was observed that a precise tracking of the payload was achievedwithpercentageoftheswayreductionofthehybridcontrollersasfollows;PID-ZV=76%,PID-ZVD=88%, PID-OBF=96% HODFC-ZV=77%, HODFC-ZVD=79% and HODFC-OBF=95%. The hybrid controllers shown precise tracking and higher sway reduction control. But HODFC-OBF is a model-free control schemes, thus more robust.