Efficient control of a nonlinear double-pendulum overhead crane with sensorless payload motion using an improved PSO-tuned PID controller

H I Jaafar,N A Mohd Subha,Liyana Ramli,M O Tokhi,M A Shamsudin,A R Husain,Z Mohamed,F S Ismail

doi:10.1177/1077546318804319

Abstract

This paper proposes an efficient proportional–integral–derivative (PID) control of a highly nonlinear double-pendulum overhead crane without the need for a payload motion feedback signal. Optimal parameters of the PID controllers are tuned by using an improved particle swarm optimization (PSO) algorithm based on vertical distance oscillations and potential energy of the crane. In contrast to a commonly used PSO algorithm based on a horizontal distance, the approach resulted in an efficient performance with a less complex controller. To test the effectiveness of the approach, extensive simulations are carried out under various crane operating conditions involving different payload masses and cable lengths. Simulation results show that the proposed controller is superior with a better trolley position response, and lower hook and payload oscillations as compared to the previously developed PSO-tuned PID controller. In addition, the controller provides a satisfactory performance without the need for a payload motion feedback signal.

Highlights

Cranes are extensively used in industries to transport heavy payloads from one place to another
The fitness function in equation (15) is used in the particle swarm optimisation (PSO) algorithm to obtain optimal PID gains for the cases with three and two PID controllers shown in Figures 2 and 3 respectively
It can be shown that the parameters for PID #2 and PID #3 for both approaches were significantly difference, in contrast to PID #1. This is due to the use of the vertical and horizontal distances in the fitness functions of the PSO algorithms

Summary

Introduction

Cranes are extensively used in industries to transport heavy payloads from one place to another. For a double-pendulum crane, three PID controllers are required for positioning, hook and payload oscillations control.

Results

Conclusion