Position and Swing Angle Control of Nonlinear Gantry Crane System

The use of gantry crane systems for transporting payload is very common in industrial applications. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. To overcome this problem, this paper describes development of an intelligent gantry crane system based on the mechatronics design. A lab-scale gantry crane is designed and then its intelligent controllers are developed. Fuzzy logic controllers are adopted, designed and implemented for controlling payload position as well as the swing angle of the gantry crane. The performance of the proposed intelligent gantry crane system is evaluated on a hardware-in-the-loop simulation (HILS) environment. Moreover robustness of the proposed system is also evaluated experimentally in the HILS environment. The result shows that the proposed intelligent gantry crane system designed based on the mechatronics design approach has better performance than the automatic gantry crane system controlled by classical PID controllers. Moreover the result also shows that the intelligent gantry crane system is more robust to parameter variation than the automatic gantry crane system.

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Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

Mathematical Problems in Engineering ◽

10.1155/2016/1965923 ◽

2016 ◽

Vol 2016 ◽

pp. 1-17 ◽

Cited By ~ 4

Author(s):

Naif B. Almutairi ◽

Mohamed Zribi

Keyword(s):

Fuzzy Controller ◽

Experimental Results ◽

Gantry Crane ◽

Pd Controller ◽

Fuzzy Controllers ◽

Swing Angle ◽

Control Schemes ◽

Control Objective ◽

Simulation Results ◽

Gantry Cranes

The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.

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Fuzzy-LQR Based Anti-Swing Control of Gantry Crane

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1030-1032.1596 ◽

2014 ◽

Vol 1030-1032 ◽

pp. 1596-1601

Author(s):

Chun Xin Mu ◽

Ming Quan Shi ◽

Zhen Feng Han ◽

Qi Min Li

Keyword(s):

Fuzzy Logic ◽

Simulation Experiment ◽

Design Method ◽

Linear Quadratic Regulator ◽

Gantry Crane ◽

Improved Method ◽

Linear Quadratic ◽

Swing Angle ◽

Lqr Controller ◽

The Mathematical Model

The paper proposed a controller combined fuzzy logic with linear quadratic regulator (LQR). This controller was able to adjust the swing angle precisely during the lifting of gantry crane. It resolved the problem that the LQR controller mostly depending on the accuracy of the mathematical model. First, the paper analyzed the design method of the LQR, then an improved method combing with fuzzy logic was put forward in detail and a further simulation experiment was carried on the MATLAB. The result shows that compared with LQR, the Fuzzy-LQR method can drive the crane to destination in a shorter time and reduced the swing angle by a third.

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Dynamic Response of a Gantry Crane’s Beam Subjected to a Two-Axle Moving Trolley

Mathematical Problems in Engineering ◽

10.1155/2020/3096213 ◽

2020 ◽

Vol 2020 ◽

pp. 1-10

Author(s):

Qingrong Chen ◽

Wenming Cheng ◽

Lingchong Gao ◽

Run Du

Keyword(s):

Moving Load ◽

Dynamic Responses ◽

Gantry Crane ◽

Extended Version ◽

Bernoulli Beam ◽

Load Model ◽

Simply Supported ◽

Swing Angle ◽

Proposed Model ◽

Euler Bernoulli Beam

In this paper, a novel moving load model for 2D crane systems of which the trolley has two axles is proposed. Based on this model, the dynamics of a 2D gantry crane, which is modelled as a simply supported Euler–Bernoulli beam carrying a two-axle trolley from which a single-pendulum payload is suspended, is studied. The proposed model was verified by comparing with two models in existing papers and can be considered as an extended version of comparative models. Then, the effect of the trolley’s axle base on the dynamic responses of the beam is studied. It can be observed that increasing the length of trolley’s axle base will decrease the deflection of the beam, and a larger initial swing angle will cause a larger deflection of the beam without controlling the swing of the payload.

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