Control strategies for automatic gantry crane system

Gantry crane is a machine that moves payload from one point to another point. Nowadays, most of gantry cranes use open loop system to control position while anti�swing control is operated manually by skillful operators. The open loop system is sensitive to the parameter variations and disturbanc...

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Main Author:	Jalani, Jamaludin
Format:	Thesis
Language:	English
Published:	2005
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/7940/1/24p%20JAMALUDIN%20JALANl.pdf
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id	my-uthm-ep.7940
record_format	uketd_dc
spelling	my-uthm-ep.79402022-10-30T08:05:58Z Control strategies for automatic gantry crane system 2005-06 Jalani, Jamaludin TJ Mechanical engineering and machinery TJ212-225 Control engineering systems. Automatic machinery (General) Gantry crane is a machine that moves payload from one point to another point. Nowadays, most of gantry cranes use open loop system to control position while anti�swing control is operated manually by skillful operators. The open loop system is sensitive to the parameter variations and disturbances while operator's skills are restricted by fatigue problem and will affect the performance of the gantry crane. In order to overcome the problems, feedback control is adopted in this study. Firstly, classical PID and PD were introduced as position and anti-swing control respectively. The experimental result showed that the PID and PD controllers were successfully controlled both position and swing of the gantry crane especially for small load displacement. However, the positioning performance was degraded due to the saturation of the actuator. In addition, the PID controller design is a time consuming process, since model and parameters of the gantry crane are needed. Secondly, non�model based of fuzzy logic controllers are implemented in the gantry crane system for position and anti-swing control. The experimental result showed that fuzzy logic controllers had resulted on good performances for anti-swing controller. However, the results for position control were inconsistent for small desired position. The tuning process may improve the control performance but it may affect other desired positions. Finally, non-model based of NCTF controller, was proposed for position control of the gantry crane system while the anti-swing control by using fuzzy logic controller remained the same since it gave good performance. The experimental result showed that the NCTF controller produced best results for position control of the gantry crane system compared to other controllers. 2005-06 Thesis http://eprints.uthm.edu.my/7940/ http://eprints.uthm.edu.my/7940/1/24p%20JAMALUDIN%20JALANl.pdf text en public mphil masters International Islamic University Malaysia Kulliyyah of Engineering
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Jalani, Jamaludin Control strategies for automatic gantry crane system
description	Gantry crane is a machine that moves payload from one point to another point. Nowadays, most of gantry cranes use open loop system to control position while anti�swing control is operated manually by skillful operators. The open loop system is sensitive to the parameter variations and disturbances while operator's skills are restricted by fatigue problem and will affect the performance of the gantry crane. In order to overcome the problems, feedback control is adopted in this study. Firstly, classical PID and PD were introduced as position and anti-swing control respectively. The experimental result showed that the PID and PD controllers were successfully controlled both position and swing of the gantry crane especially for small load displacement. However, the positioning performance was degraded due to the saturation of the actuator. In addition, the PID controller design is a time consuming process, since model and parameters of the gantry crane are needed. Secondly, non�model based of fuzzy logic controllers are implemented in the gantry crane system for position and anti-swing control. The experimental result showed that fuzzy logic controllers had resulted on good performances for anti-swing controller. However, the results for position control were inconsistent for small desired position. The tuning process may improve the control performance but it may affect other desired positions. Finally, non-model based of NCTF controller, was proposed for position control of the gantry crane system while the anti-swing control by using fuzzy logic controller remained the same since it gave good performance. The experimental result showed that the NCTF controller produced best results for position control of the gantry crane system compared to other controllers.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Jalani, Jamaludin
author_facet	Jalani, Jamaludin
author_sort	Jalani, Jamaludin
title	Control strategies for automatic gantry crane system
title_short	Control strategies for automatic gantry crane system
title_full	Control strategies for automatic gantry crane system
title_fullStr	Control strategies for automatic gantry crane system
title_full_unstemmed	Control strategies for automatic gantry crane system
title_sort	control strategies for automatic gantry crane system
granting_institution	International Islamic University Malaysia
granting_department	Kulliyyah of Engineering
publishDate	2005
url	http://eprints.uthm.edu.my/7940/1/24p%20JAMALUDIN%20JALANl.pdf
_version_	1776103274563239936

Control strategies for automatic gantry crane system

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