Pole Placement Control of a 2D Gantry Crane System with Varying Pole Locations
Keywords:
Gantry crane system, Pole placement controller, Simulation.Abstract
A gantry crane is widely used in industries for transportation of heavy loads, but control of this system for a fast operation is challenging. This paper presents the application of pole placement controller for controlling a 2D gantry crane system to achieve minimum sway angle and accurate positioning of payload by varying poles location. A linearized model of the system is obtained, and a pole placement controller is designed with three poles located at different locations on the left-hand side of the s-plane. Simulation via MATLAB and Simulink was performed to investigate the performance of the pole placement controller. Simulation results have shown that when both the dominant and other poles are chosen to be complex poles, then a better performance of the system will be achieved.References
M. J. Maghsoudi, Z. Mohamed A. F. Pratiwi, N. Ahmad and A.R. Husain, An experiment for position and sway control of a 3D gantry crane, 4th International Conference on Intelligent and Advanced Systems, Malaysia, 2012 pp. 497–502.
W. J. Jalani, R. Muhida and M. Jimoh and E. Salami, Control strategy for automatic Gantry crane systems: a practical and intelligent approach, International Journal of Advanced Robotic Systems, 4, 447–456, 2007.
M. Azdiana Z. Mohamed and N. A. Sulaiman, Inverse Dynamic analysis with feedback control for vibration-free positioning of a gantry crane system, International Conference on Electronic Design, Penang, Malaysia, 2008, pp. 1–5.
H. I. Jaafar, Z. Mohamed, J. J. Jamian, A. F. Abidin, A. M. Kassim and Z. Ab Ghani, Dynamic behavior of a nonlinear gantry crane system, Procedia Technology, 11, 419–425, 2013.
N. K. Dankadai, A. Athif, M. Faudzi, A. Bature and M. I. Faruk, Position control of a 2D nonlinear gantry crane system using model predictive controller, Applied mechanics and materials, 735, 282–288, 2015.
A. Alhassan, K. A. Danaplasingam, M. Shehu, A. M. Abdullahi and A. Shehu, Closed-loop schemes for position and sway control of a gantry crane system, International Journal of Simulation: Systems, Science and Technology, 17, 1–8, 2016.
I. Burul, F. Kolonic, J. Matusko, The control system design of a gantry crane based on H-infinity control theory, The 33rd International Convention MIPRO, Opatija, Croatia, 2010, pp. 183–188.
H. I. Jaafar, Z. Mohamed, A. F. Zainal Abidin and Z. Ab Ghani, PSO-tuned PID controller for a nonlinear gantry crane system, IEEE International Conference on Control System, Computing and Engineering, Malaysia, 2012, pp. 515–519.
Rajeeb Dey, Nishant Sinha, Priyanka Chaubey, S. Ghosh and G. Ray, Active sway control of a single pendulum gantry crane using output-delayed feedback control technique, 11th International Conference on Control Automation, Robotics and Vision, Singapore, 2010, pp. 532–536.
H. Omar, Control of gantry and tower cranes, Ph.D. Dissertation, Virginia Polytech. Inst. and State Univ., Blacksburg, Virginia, 2003.
D. V. Diep and V. V. Khoa, PID control tuning optimization with PSO algorithm for nonlinear gantry crane system, International Journal of Engineering and Computer Science, 3(6), 6631–6635, 2014.
M. J. Maghsoudi and Z. Mohamed, Active sway control of a gantry crane by an electric ducted fan, International Journal of Acoustics and Vibration, 20, 171–176, 2015.
M. I. Solihin, Robust PID controller tuning for 2D gantry crane using Kharitonov’s theorem and differential evolution optimizer, Advanced Materials Research, 903, 267–273, 2014.
Downloads
Published
How to Cite
Issue
Section
License
Authors who publish with this journal agree to the following terms:Authors hold and retain copyright, and grant the journal right of first publication, with the work after publication simultaneously licensed under a Creative Commons Attribution 4.0 License CC BY that permits any use, reproduction and distribution of the work and article without further permission provided that the original work is properly cited.
Authors are permitted and encouraged to post their work online in institutional repositories, website and other social media before and after publication, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
