State Variable Feedback Control Of A Gantry Crane

• Main Author: Nur Syazni binti Muhamad Nasrah, Nur Syazni
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2008
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://utpedia.utp.edu.my/1599/1/NUR_SYAZNI_BINTI.pdf; http://utpedia.utp.edu.my/1599/

The outcome of this project is to design a controller to meet the requirement of high positioning accuracy and small swing angle, motion and stabilization control of gantry crane. The dynamic of the gantry crane system has been modeled in state variable form to obtain state feedback gain matrix and system parameters has been defined and suitable desired poles has been specified to complete the dynamic modeling. The State Variable Feedback Control is chosen to be implemented in gantry crane control system because it can control multiple variables which are the gantry’s position, speed, load angle and angular velocity at the same time. Block diagram constructed using Simulink which represents the controller has successfully achieved the objectives. An analytical analysis is conducted to study on the effect of system parameter changes. The scopes of studies involved will be on various types of gantry crane model, various control technique, gantry crane system modeling and simulation using MATLAB Simulin