Abstract
The development of combination of proportional-integral-derivative and proportional- derivative (PID-PD) controller for overhead crane is presented. Due to the pendulum-like settings, the swinging of load has caused many difficulties while operating the overhead crane. Swinging of the load causes unnecessary tension to the cable and structure of the overhead crane, which will compromise the safety of operator and other workers. Overhead cranes should have the ability to move the load to desired point as fast as possible while minimizing the load swing and maintaining the accuracy. Proportional-integral-derivative (PID) controller is used for overhead crane positioning and proportional-derivative (PD) controller for load oscillation. New time-domain performance criterion function is used in particle swarm optimization (PSO) algorithm for the tuning of the PID-PD controller rather than the general performance criteria using error of the system. This performance criterion function monitors the performance in terms of rise time, overshoot, settling time and steady state error of the overhead crane system. The performance of the optimised PID-PD controller is verified with simulation in MATLAB. The PSO optimized PID-PD controllers with new performance criterion are shown effective in improving the step response of the overhead crane position as well as controlled the load oscillation.
Highlights
Overhead cranes are commonly used in industrial fields such as harbour and factories
Good step responses can be achieved with a set of good control parameters KP, KI, KD, KPS and KDS which will result in the minimisation of performance criteria in the time domain including the settling time, rise time, maximum overshoot and steady state error of the overhead crane position and load oscillation
The evaluation function consists of the performance criteria from PID and PD controllers of the overhead crane system for position and load oscillation
Summary
Overhead cranes are commonly used in industrial fields such as harbour and factories. Fang et al proposed simple PD controller to asymptotically control the overhead crane dynamics and two nonlinear controller that increase the coupling between the load and the gantry position [3]. There are many control algorithms have been developed to optimized the controller in term of swing, travel time and precision control of overhead cranes. Smoczek and Szpytko proposed a controller based on Particle Swarm Optimization (PSO) to solve the problem of the load swing [7]. Another PSO based PID controller introduced to obtain the optimal parameters according to the priority of time response [8]. The results and its discussion based on the accuracy and travel time in term of maximum overshoot, steady state error, rise time and settling time of the system are well described and followed by the conclusion of this paper
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
