DISTURBANCE REJECTION CONTROL APPLIED TO A GANTRY CRANE
Keywords:
Active force control, disturbance rejection, PID control, gantry craneAbstract
The paper highlights a novel method for controlling a gantry crane model based on an Active Force Control (AFC) strategy. It is a disturbance rejection control technique in which AFC is employed to control accurately and robustly the trolley part of the crane along a desired path, compensating at the same time the payload sway at the end of the traversed motion. AFC is designed and implemented using a two degree-of-freedom controller-the outer classic Proportional-IntegralDerivative (PID) control loop provides the commanded signal while the internal AFC loop accommodates the known and unknown disturbances present in the gantry system. Results from the simulation study clearly show that the crane can perform its predefined task faster with a minimum payload sway angle compared to the PID control method.References
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