Feedback control schemes for gantry crane system incorporating payload
— This paper presents theoretical investigations into the dynamic characterisation of a two dimensional gantry crane system. A dynamic model of the system is developed using Euler�Langrange formulation. Simulation exercises are performed in Matlab with three different control strategies; LQR,...
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| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7937/1/P11005_733d5e40f25d876dcad87d8fcdd2f8b1.pdf http://eprints.uthm.edu.my/7937/ |
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| Summary: | — This paper presents theoretical investigations into the
dynamic characterisation of a two dimensional gantry crane
system. A dynamic model of the system is developed using Euler�Langrange formulation. Simulation exercises are performed in
Matlab with three different control strategies; LQR, DFS and PD
controllers and then the results are compared with uncontrolled
system. To study the effects of payload weight on the response of
the gantry crane system, the results are evaluated with different
payload weight in the algorithm. Results achieved from
simulation work are shown in time and frequency domains.
Performance of the feedback controllers in minimizing the sway
angle is examined in terms of time response specifications and
magnitude of sway. Finally, a comparative assessment of
different payload weight to the system performance is assessed
and discussed. |
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