A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach

This project presents the development of a dynamic model and an efficient control algorithm of a three-dimensional (3D) gantry crane with payload. A 3D gantry crane with simultaneous travelling, traversing, and hoisting is considered. The dynamic equations of motion of the gantry crane system are de...

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Main Author:	Pratiwi, Artdhita Fajar
Format:	Thesis
Language:	English
Published:	2010
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/16735/5/ArtdhitaFajarPratiwiMFKE2010.pdf
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id	my-utm-ep.16735
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spelling	my-utm-ep.167352017-09-18T07:26:41Z A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach 2010-01 Pratiwi, Artdhita Fajar TK Electrical engineering. Electronics Nuclear engineering This project presents the development of a dynamic model and an efficient control algorithm of a three-dimensional (3D) gantry crane with payload. A 3D gantry crane with simultaneous travelling, traversing, and hoisting is considered. The dynamic equations of motion of the gantry crane system are derived using the Lagrange’s method and represented in nonlinear differential equations. Simulation is performed using Matlab/Simulink to investigate the dynamic behaviour of the system both in time and frequency domains. System responses including positions of rail, trolley and payload, and payload sway angle are obtained and analysed. For control of the 3D gantry crane, a proportional-derivative controller with input shaping for input tracking and reduction of payload sway is proposed. The performances of the controller are examined in terms of input tracking capability, level of sway reduction, and robustness of the input shaper. Simulation and experimental exercises using a lab-scaled 3D gantry crane show that the proposed controller is capable of minimising the payload sway while achieving satisfactory input tracking performance. The controller is also shown to be robust up to 50 % error tolerance in the sway frequencies. Moreover, with the experimental results, it is demonstrated that the proposed control is practical and easy to implement in real-time. 2010-01 Thesis http://eprints.utm.my/id/eprint/16735/ http://eprints.utm.my/id/eprint/16735/5/ArtdhitaFajarPratiwiMFKE2010.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Pratiwi, Artdhita Fajar A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
description	This project presents the development of a dynamic model and an efficient control algorithm of a three-dimensional (3D) gantry crane with payload. A 3D gantry crane with simultaneous travelling, traversing, and hoisting is considered. The dynamic equations of motion of the gantry crane system are derived using the Lagrange’s method and represented in nonlinear differential equations. Simulation is performed using Matlab/Simulink to investigate the dynamic behaviour of the system both in time and frequency domains. System responses including positions of rail, trolley and payload, and payload sway angle are obtained and analysed. For control of the 3D gantry crane, a proportional-derivative controller with input shaping for input tracking and reduction of payload sway is proposed. The performances of the controller are examined in terms of input tracking capability, level of sway reduction, and robustness of the input shaper. Simulation and experimental exercises using a lab-scaled 3D gantry crane show that the proposed controller is capable of minimising the payload sway while achieving satisfactory input tracking performance. The controller is also shown to be robust up to 50 % error tolerance in the sway frequencies. Moreover, with the experimental results, it is demonstrated that the proposed control is practical and easy to implement in real-time.
format	Thesis
qualification_level	Master's degree
author	Pratiwi, Artdhita Fajar
author_facet	Pratiwi, Artdhita Fajar
author_sort	Pratiwi, Artdhita Fajar
title	A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
title_short	A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
title_full	A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
title_fullStr	A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
title_full_unstemmed	A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
title_sort	three-dimensional gantry crane system using proportional-derivative controller with input shaping approach
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2010
url	http://eprints.utm.my/id/eprint/16735/5/ArtdhitaFajarPratiwiMFKE2010.pdf
_version_	1747815115062771712

A three-dimensional gantry crane system using proportional-derivative controller with input shaping approach

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