DISTURBANCE REJECTION CONTROL APPLIED TO A GANTRY CRANE

Authors

  • Musa Mailah Department of Applied Mechanics, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor
  • Chia Soon Yoong Department of Applied Mechanics, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, 81310 Johor Bahru, Johor

Keywords:

Active force control, disturbance rejection, PID control, gantry crane

Abstract

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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Published

2018-04-09

How to Cite

Mailah, M., & Soon Yoong, C. (2018). DISTURBANCE REJECTION CONTROL APPLIED TO A GANTRY CRANE. Jurnal Mekanikal, 25(1). Retrieved from https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/article/view/154

Issue

Section

Mechanical

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