Autonomous Crane Control (Anti-Swing Controller)

• Main Author: Mohd Sohaimi, Mohd Azrul Adha
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi PETRONAS 2007
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://utpedia.utp.edu.my/9479/1/2007%20-%20Autonomous%20Crane%20Control%28Anti-Swing%20Controller%29.pdf; http://utpedia.utp.edu.my/9479/

The main objective for this project is to design controller forthe3DCrane Model that helps to overcome the swinging phenomena during the movement of the crane. 3D Crane model is a simulation or a mini model of the real life autonomous gantry crane that industries, suchas portand factories, usesto carries heavy loads. Cranes behavior is similar to pendulum where movement and friction on the load will create a swinging effect on it. In these industries, swinging of the load will affected their productivity, efficiency and most importantly the safety. So by having a controller that have the ability to overcome the swinging effect, this will optimize the productivity, efficiency and also the safety. In designing the "anti-swing" controller, a lot of problems encounter especially when dealing with 3 direction non-linear models. To understand the 3D Crane Model's capability and ability also will take a lot of time. This project will require knowledge in all types of controllers since the best controller out of all the controllers are needed to be use. As for the first part of this project, a PID controller is selected. Then a Fuzzy Controller are designed to compare with PID Controller to see which has better accuracy and precision in reducing the crane's swinging effect.