Analysis of 3D Gantry Crane System by PID and VSC for Positioning Trolley and Oscillation Reduction

Authors

  • S.Y. S.Hussein Center of Robotics and Industrial Automation, Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • R. Ghazali Center of Robotics and Industrial Automation, Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • H.I. Jaafar Center of Robotics and Industrial Automation, Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • C. C. Soon Center of Robotics and Industrial Automation, Universiti Teknikal Malaysia Melaka (UTeM), Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia

Keywords:

Gantry Crane System, PID Controller, Variable Structure Control,

Abstract

Gantry Crane System is a mechanism in heavy engineering that moves payload such as container from one point to another. Generally, an experienced operators or an experts are required to control the gantry position manually while minimizing the payload vibration or swing oscillation. Therefore, those manpower have to be trained in order to operate the gantry crane system safely and efficiently. Thus, in order to overcome this problem, a controller is implemented to the system. This paper presents a controls strategy of Proportional-IntegralDerivative and Variable Structure Control (PID+VSC) in the gantry crane system. The PID controller is used to control the trolley position while the VSC controller is used to control the payload oscillation. The performances are compared to the Proportional-Integral-Derivative and Proportional-Derivative (PID+PD) controller in terms of the precision of trolley position with the minimization of payload oscillation.

References

S. Y. S. Hussien, H. I. Jaafar, R. Ghazali, and N. R. A. Razif, “The Effects of Auto-Tuned Method in PID And PD Control Scheme for Gantry Crane System,” International Journal of Soft Computing and Engineering, pp. 121–125, 2015.

S. Y. S. Hussien, R. Ghazali and H. I. Jaafar, “Investigation of Sway Angle Characteristics in Gantry Crane System by PSD Analysis,” in Proceedings of Mechanical Engineering Research Day, pp. 85-86, 2015.

S. Y. S. Hussien, R. Ghazali, H. I. Jaafar, and C. C. Soon, “The Effect on Sway Angle Performance in Gantry Crane System by using PSD Analysis,” Jurnal Teknologi (Science & Engineering), vol. 77, pp. 125–131, 2015.

M. J. Maghsoudi, Z. Mohammed, a. F. Pratiwi, N. Ahmad, and A. R. Husain, “An Experiment for Position and Sway Control of a 3D Gantry Crane,” in ICIAS 2012 - 2012 4th International Conference on Intelligent and Advanced Systems: A Conference of World Engineering, Science and Technology Congress (ESTCON) - Conference Proceedings, vol. 2, pp. 497–502, 2012.

M. Ajayan and P. N. Nishad, “Vibration Control of 3D Gantry Crane with Precise Positioning in Two Dimensions,” in 2014 Annual International Conference on Emerging Research Areas: Magnetics, Machines and Drives, AICERA/iCMMD 2014 - Proceedings, pp. 1–5, 2014.

M. J. Maghsoudi, Z. Mohamed, A. R. Husain, and H. I. Jaafar, “Improved Input Shaping Technique for a Nonlinear System,” in 2014 IEEE International Conference on COntrol System, Computing and Engineering, November, pp. 261–266, 2014.

Wahyudi and J. Jalani, “Robust Fuzzy Logic Controller for an Intelligent Gantry Crane System,” in 1st International Conference on Industrial and Information Systems, ICIIS 2006, pp. 497–502, 2006.

Wahyudi and J. Jalani, “Design and Implementation of Fuzzy Logic Controller for Intelligent Gantry Crane System,” in Proceedings of the 2nd International Conference on Mechatronics (ICOM ’05), no. May, pp. 345–351, 2005.

D. Antic, Z. Jovanovic, S. Peric, S. Nikolic, M. Milojkovic, and M. Milosevic, “Anti-Swing Fuzzy Controller Applied in a 3D Crane System,” Engineering, Technology & Applied Science Research (ETASR), vol. 2, pp. 196–200, 2012.

D. M. Trajkovi, D. S. Anti, S. S. Nikoli, S. Lj, and M. B. Milovanovi, “Fuzzy Logic-Based Control of Three-Dimensional Crane System,” Automatic Control and Robotics, vol. 12, pp. 31–42, 2013.

M. Z. Mohd Tumari, M. S. Saealal, M. R. Ghazali, and Y. Abdul Wahab, “H Infinity Controller with Graphical LMI Region Profile for Gantry Crane System,” in 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012, pp. 1397–1402, 2012.

M. I. Solihin, Wahyudi, A. Legowo, and R. Akmeliawati, “Robust PID Anti-swing Control of Automatic Gantry Crane based on Kharitonov’s Stability,” in 2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009, pp. 275–280, 2009.

M. A. Majid, W. S. W. Ibrahim, S. Mohamad, Z. A. Bakar, and K. Samarahan, “A Comparison of PID and PD Controller with Input Shaping Technique for 3D Gantry Crane,” in IEEE Conference on System, Process and Control (ICSP), no. December, pp. 13–15, 2013.

W. Gao and J. C. Hung, “Variable Structure Control of Nonlinear Systems: A New Approach,” IEEE Transactions on Industrial Electronics, vol. 40, no. 1, pp. 45–55, 1993.

K. J. Nidhil Wilfred, S. Sreeraj, B. Vijay and V. Bagyaveeraswaran, “Container Crane Control using Sliding Mode Control,” International Journal of Engineering Research & Technology (IJERT), vol. 3, no. 6, pp. 1769–1773, 2014.

C. Edwards and K. S. Sarah, Sliding Mode Controller: Theory and Applications. Taylor & Francis Ltd, 1998.

D. Qian and J. Yi, “Design of Combining Sliding Mode Controller or Overhead Crane Systems,” International Journal of Control and Automation, vol. 6, no. 1,February, pp. 131–140, 2013.

C. Y. Chang, K. C. Hsu, K. H. Chiang, and G. E. Huang, “Modified Fuzzy Variable Structure Control Method to the Crane System with Control Deadzone Problem,” Journal of Vibration and Control, vol. 14, no. 7, pp. 953–969, 2008.

M. Pauluk, A. Korytowski, A. Turnau, and M. Szymkat, “Time Optimal Control of 3D Crane,” in Proceedings of the 7th IEEE International Conference on Methods and Models in Automation and Robotics, pp. 122–128, 2001.

R. Ghazali, Y. M. Sam, M. F. Rahmat, A. W. I. M. Hashim, and Zulfatman, “Performance Comparison between Sliding Mode Control with PID Sliding Surface and PID Controller for an Electro-hydraulic Positioning System,” International Journal on Advanced Science, Engineering and Information Technology, vol. 1, no. 4, pp. 447–452, 2011.

R. Ghazali, Y. M. M. Sam, M. F. Rahmat, A. W. I. M. Hashim, Zulfatman, M. F. Rahma, and A. W. I. M. Hashim, “Position Tracking Control of an Electro-hydraulic Servo System using Sliding Mode Control,” Research and Development (SCOReD), 2010 IEEE Student Conference, pp. 240–245, 2010.

Downloads

Published

2016-10-01

How to Cite

S.Hussein, S., Ghazali, R., Jaafar, H., & Soon, C. C. (2016). Analysis of 3D Gantry Crane System by PID and VSC for Positioning Trolley and Oscillation Reduction. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 8(7), 139–143. Retrieved from https://jtec.utem.edu.my/jtec/article/view/1295

Issue

Vol. 8 No. 7: Pioneering Future Innovation Through Green Technology III

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.


Most read articles by the same author(s)