Command shaping control of a crane system

Abstract

Cranes are widely used for transportation of heavy material in factories, warehouse, shipping yards, building construction and nuclear facilities. There are 3 major types of crane system: gantry (overhead) crane, rotary (tower) crane and boom crane. This project will concentrate in controlling of gantry crane. First of all, the equations of motion of the gantry crane system are derived by using Lagrangian approach. Then, the model of the gantry crane system is developed to represent the dynamic equations of motion in state space. SIMULINK is used to simulate the dynamic behaviours of the gantry crane. From the simulation, we noticed that the motion of the payload and trolley are unstable with occurrence of the oscillation. The system became undamped system when the input force is taken off. The system will swing on its varying frequencies in this condition. The challenge of this project is to develop a control algorithm for gantry crane system to reduce the oscillation or vibration of the payload and hook. Input shaping command controller is introduced in this project to control the crane system. Input shaping command controller is a feed-forward controller. This project had studied the performance of this designed controller in the crane system. With this controller the gantry crane system is able to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination