An experiment for position and sway control of a 3D gantry crane
This paper presents experimental investigations into the development of a real-time hybrid control scheme for sway and position control of a three dimensional (3D) gantry crane system. System responses including positions of the trolley, rail and payload and payload sway are examined. Initially, a P...
Saved in:
Main Authors: | , , , , |
---|---|
Format: | Book Section |
Published: |
IEEE
2012
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/34275/ http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=06306066 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.34275 |
---|---|
record_format |
eprints |
spelling |
my.utm.342752017-02-02T05:48:17Z http://eprints.utm.my/id/eprint/34275/ An experiment for position and sway control of a 3D gantry crane Maghsoudi, M. J. Mohamed, Zaharuddin Pratiwi, A. F. Ahmad, Nasarudin Husain, Abdul Rashid TK Electrical engineering. Electronics Nuclear engineering This paper presents experimental investigations into the development of a real-time hybrid control scheme for sway and position control of a three dimensional (3D) gantry crane system. System responses including positions of the trolley, rail and payload and payload sway are examined. Initially, a PD controller is developed for position control of the trolley and rail, and control of hoisting of payload of the system. Then, a feedforward controller based on input shaping is designed for reduction of payload sway. The performances of the controllers are assessed in terms of the input tracking capability and sway reduction as compared to the response with PD control. The performance of the controller during payload hoisting is also investigated. IEEE 2012 Book Section PeerReviewed Maghsoudi, M. J. and Mohamed, Zaharuddin and Pratiwi, A. F. and Ahmad, Nasarudin and Husain, Abdul Rashid (2012) 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. IEEE, New York, USA, pp. 497-502. ISBN 978-145771967-7 http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=06306066 DOI:10.1109/ICIAS.2012.6306066 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
topic |
TK Electrical engineering. Electronics Nuclear engineering |
spellingShingle |
TK Electrical engineering. Electronics Nuclear engineering Maghsoudi, M. J. Mohamed, Zaharuddin Pratiwi, A. F. Ahmad, Nasarudin Husain, Abdul Rashid An experiment for position and sway control of a 3D gantry crane |
description |
This paper presents experimental investigations into the development of a real-time hybrid control scheme for sway and position control of a three dimensional (3D) gantry crane system. System responses including positions of the trolley, rail and payload and payload sway are examined. Initially, a PD controller is developed for position control of the trolley and rail, and control of hoisting of payload of the system. Then, a feedforward controller based on input shaping is designed for reduction of payload sway. The performances of the controllers are assessed in terms of the input tracking capability and sway reduction as compared to the response with PD control. The performance of the controller during payload hoisting is also investigated. |
format |
Book Section |
author |
Maghsoudi, M. J. Mohamed, Zaharuddin Pratiwi, A. F. Ahmad, Nasarudin Husain, Abdul Rashid |
author_facet |
Maghsoudi, M. J. Mohamed, Zaharuddin Pratiwi, A. F. Ahmad, Nasarudin Husain, Abdul Rashid |
author_sort |
Maghsoudi, M. J. |
title |
An experiment for position and sway control of a 3D gantry crane |
title_short |
An experiment for position and sway control of a 3D gantry crane |
title_full |
An experiment for position and sway control of a 3D gantry crane |
title_fullStr |
An experiment for position and sway control of a 3D gantry crane |
title_full_unstemmed |
An experiment for position and sway control of a 3D gantry crane |
title_sort |
experiment for position and sway control of a 3d gantry crane |
publisher |
IEEE |
publishDate |
2012 |
url |
http://eprints.utm.my/id/eprint/34275/ http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=06306066 |
_version_ |
1643649552420438016 |
score |
13.160551 |