PSO-Tuned PID controller of a gantry crane system

This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiv...

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Main Author:	Jaafar, Hazriq Izzuan
Format:	Thesis
Language:	English
Published:	2013
Subjects:	Unspecified
Online Access:	http://eprints.utm.my/id/eprint/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf
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id	my-utm-ep.33827
record_format	uketd_dc
spelling	my-utm-ep.338272017-07-13T00:59:11Z PSO-Tuned PID controller of a gantry crane system 2013 Jaafar, Hazriq Izzuan Unspecified This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiveness of both method are observed in order to find the optimal performances of system. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers is utilized for positioning and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that implementation of PSO is effective to move the trolley as fast as possible to the desired position with low payload oscillation. 2013 Thesis http://eprints.utm.my/id/eprint/33827/ http://eprints.utm.my/id/eprint/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:74266?queryType=vitalDismax&query=PSO-Tuned+PID+controller+of+a+gantry+crane+system&public=true masters Universiti Teknologi Malaysia, Faculty of Civil Engineering Faculty of Civil Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	Unspecified
spellingShingle	Unspecified Jaafar, Hazriq Izzuan PSO-Tuned PID controller of a gantry crane system
description	This project presents development of an optimal PID controller for controlling the nonlinear gantry crane system. The tuning method of Particle Swarm Optimization (PSO) with priority based fitness and linear weight summation approaches are implemented for finding optimal PID parameters. The effectiveness of both method are observed in order to find the optimal performances of system. The system dynamic model is derived using Lagrange equation. A combination of PID and PD controllers is utilized for positioning and oscillation control of the system. System responses including trolley displacement and payload oscillation are observed and analyzed. Simulation is conducted within Matlab environment to verify the performance of the controller. It is demonstrated that implementation of PSO is effective to move the trolley as fast as possible to the desired position with low payload oscillation.
format	Thesis
qualification_level	Master's degree
author	Jaafar, Hazriq Izzuan
author_facet	Jaafar, Hazriq Izzuan
author_sort	Jaafar, Hazriq Izzuan
title	PSO-Tuned PID controller of a gantry crane system
title_short	PSO-Tuned PID controller of a gantry crane system
title_full	PSO-Tuned PID controller of a gantry crane system
title_fullStr	PSO-Tuned PID controller of a gantry crane system
title_full_unstemmed	PSO-Tuned PID controller of a gantry crane system
title_sort	pso-tuned pid controller of a gantry crane system
granting_institution	Universiti Teknologi Malaysia, Faculty of Civil Engineering
granting_department	Faculty of Civil Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/33827/1/HazriqIzzuanBinJaafarMFKE2013.pdf
_version_	1747816194853830656

PSO-Tuned PID controller of a gantry crane system

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