Maghsoudi, M. J. and Mohamed, Zaharuddin and Pratiwi, A. F. and Ahmad, Nasarudin and Husain, Abdul Rashid (2012) An experiment for position and sway control of a 3D gantry crane. In: ICIAS 2012 - 2012 4th International Conference on Intelligent and Advanced Systems: A Conference of World Engineering, Science and Technology Congress (ESTCON) - Conference Proceedings. IEEE, New York, USA, pp. 497-502. ISBN 978-145771967-7
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Abstract
This paper presents experimental investigations into the development of a real-time hybrid control scheme for sway and position control of a three dimensional (3D) gantry crane system. System responses including positions of the trolley, rail and payload and payload sway are examined. Initially, a PD controller is developed for position control of the trolley and rail, and control of hoisting of payload of the system. Then, a feedforward controller based on input shaping is designed for reduction of payload sway. The performances of the controllers are assessed in terms of the input tracking capability and sway reduction as compared to the response with PD control. The performance of the controller during payload hoisting is also investigated.
| Item Type: | Book Section |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | 3D gantry crane, hybrid control, input shaping, PD control, sway control |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 34275 |
| Deposited By: | INVALID USER |
| Deposited On: | 30 Sep 2013 07:41 |
| Last Modified: | 02 Feb 2017 05:48 |
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