Universiti Teknologi Malaysia Institutional Repository

PSO-Tuned PID controller of a gantry crane system

Jaafar, Hazriq Izzuan (2013) PSO-Tuned PID controller of a gantry crane system. Masters thesis, Universiti Teknologi Malaysia, Faculty of Civil Engineering.


Official URL: http://dms.library.utm.my:8080/vital/access/manage...


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.

Item Type:Thesis (Masters)
Additional Information:Thesis (Master of Engineering (Electrical - Mechatronics and Automatic Control)) - Universiti Teknologi Malaysia, 2013; Supervisor : Assoc. Prof. Dr. Zaharuddin Mohamed
Divisions:Civil Engineering
ID Code:33827
Deposited By: Kamariah Mohamed Jong
Deposited On:28 Nov 2013 10:46
Last Modified:13 Jul 2017 00:59

Repository Staff Only: item control page