Control of gantry crane system based on fuzzy logic technique

Abstract

Gantry cranes are widely used in industry for transporting heavy loads and hazardous materials in shipyards, factories, nuclear installations, and high building construction. The crane should move the load as fast as possible without causing any excessive movement at the final position. However, most of the common gantry crane results in a swing motion when payload is suddenly stopped after a fast motion. The swing motion can be reduced but will be time consuming i.e. reduce the facility availability as well as productivity. Moreover, the gantry crane needs a skilful operator to control manually based on his or her experiences to stop the swing immediately at the right position. Furthermore to unload, the operator has to wait the load stop from swinging. The failure of controlling crane also might cause accident and may harm people and surrounding. To overcome this problem, an intelligent gantry crane system had been introduced. Fuzzy logic controllers is proposed, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. PID control approach will be taken as comparator based on the previous research. This project is to propose the control design of AC Servo drive system for linear guide application of gantry crane. The typical linear guide applications can be hoist system like crane, lift, gantry crane system. In this proposed control design, the main purpose of controlling gantry crane system is transporting the load as fast as possible to the required position with precision, without any force disturbance and parameter variations which is swing motion which cause a steady and/or transient error in the conventional ac servo drive system. Basically this system is designed according to the experimental results which convinced the collected data obtained, and simulation approach.